129
Total objective tests
32
Objectives passed
0
Objectives failed
97
Objectives skipped
9.0s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 163 warnings · 19152 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233948 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233948 ms (missed cycles : 5).[0m ×2 + 0.23sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.336172 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.336172 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999706 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999706 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789684412.71225452 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOobjective_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: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789684413.31912136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.01sINFOros2_control_node[2026-09-17 22:33:33.482] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-17 22:33:33.482] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650898 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650898 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.29sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560517 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560517 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 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 2.114026 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114026 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal ×3148 + 6.50sINFOjoint_trajectory_controllerAccepted new action goal ×3148 + 6.50sINFOros2_control_nodeReceived new action goal[0m ×6296 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×6296 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692385 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692385 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682875 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682875 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881748 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881748 ms (missed cycles : 2).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446132 ms (missed cycles : 3). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446132 ms (missed cycles : 3).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110617 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110617 ms (missed cycles : 2).[0m ×2 + 11.36sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.36sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.36sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.37sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729235 ms (missed cycles : 2). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729235 ms (missed cycles : 2).[0m ×2 + 12.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×6 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084235 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084235 ms (missed cycles : 2).[0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358540 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358540 ms (missed cycles : 2).[0m ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2).[0m ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824411 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824411 ms (missed cycles : 2).[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.057184 ms (missed cycles : 6). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.057184 ms (missed cycles : 6).[0m ×2 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172846 ms (missed cycles : 2). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172846 ms (missed cycles : 2).[0m ×2 + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161091 ms (missed cycles : 2). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161091 ms (missed cycles : 2).[0m ×2 + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481749 ms (missed cycles : 2). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481749 ms (missed cycles : 2).[0m ×2 + 21.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.678896 ms (missed cycles : 8). + 21.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.678896 ms (missed cycles : 8).[0m ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998601 ms (missed cycles : 2). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998601 ms (missed cycles : 2).[0m ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951287 ms (missed cycles : 2). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951287 ms (missed cycles : 2).[0m ×2 + 24.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686539 ms (missed cycles : 2). + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686539 ms (missed cycles : 2).[0m ×2 + 25.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312101 ms (missed cycles : 2). + 25.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312101 ms (missed cycles : 2).[0m ×2 + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062488 ms (missed cycles : 2). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062488 ms (missed cycles : 2).[0m ×2 + 26.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977333 ms (missed cycles : 2). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977333 ms (missed cycles : 2).[0m ×2 + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812977 ms (missed cycles : 2). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812977 ms (missed cycles : 2).[0m ×2 + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.325914 ms (missed cycles : 7). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.325914 ms (missed cycles : 7).[0m ×2 + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114151 ms (missed cycles : 2). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114151 ms (missed cycles : 2).[0m ×2 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039687 ms (missed cycles : 2). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039687 ms (missed cycles : 2).[0m ×2 + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821506 ms (missed cycles : 2). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821506 ms (missed cycles : 2).[0m ×2 + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438132 ms (missed cycles : 2). + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438132 ms (missed cycles : 2).[0m ×2 + 34.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765511 ms (missed cycles : 2). + 34.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765511 ms (missed cycles : 2).[0m ×2 + 35.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887997 ms (missed cycles : 2). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887997 ms (missed cycles : 2).[0m ×2 + 36.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758602 ms (missed cycles : 3). + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758602 ms (missed cycles : 3).[0m ×2 + 38.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795608 ms (missed cycles : 2). + 38.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795608 ms (missed cycles : 2).[0m ×2 + 39.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472334 ms (missed cycles : 5). + 39.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472334 ms (missed cycles : 5).[0m ×2 + 40.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159607 ms (missed cycles : 2). + 40.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159607 ms (missed cycles : 2).[0m ×2 + 40.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 41.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431732 ms (missed cycles : 2). + 41.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431732 ms (missed cycles : 2).[0m ×2 + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055436 ms (missed cycles : 5). + 42.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055436 ms (missed cycles : 5).[0m ×2 + 43.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780129 ms (missed cycles : 2). + 43.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780129 ms (missed cycles : 2).[0m ×2 + 44.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974250 ms (missed cycles : 2). + 44.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974250 ms (missed cycles : 2).[0m ×2 + 45.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758242 ms (missed cycles : 3). + 45.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758242 ms (missed cycles : 3).[0m ×2 + 46.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418924 ms (missed cycles : 3). + 46.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418924 ms (missed cycles : 3).[0m ×2 + 46.74sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789684457.22813702 seconds ×3 + 46.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152804 ms (missed cycles : 5). + 47.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152804 ms (missed cycles : 5).[0m ×2 + 47.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 47.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.30sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789684457.86046910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.54sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 47.56sINFOros2_control_node[2026-09-17 22:34:18.024] [info] Received new action goal ×2 + 47.56sINFOros2_control_node[2026-09-17 22:34:18.024] [info] Accepted new action goal ×2 + 48.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087334 ms (missed cycles : 2). + 48.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087334 ms (missed cycles : 2).[0m ×2 + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416635 ms (missed cycles : 2). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416635 ms (missed cycles : 2).[0m ×2 + 50.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283362 ms (missed cycles : 2). + 50.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283362 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.0s | 154 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.02sINFOobjective_server_nodecaller: ×6 + 0.02sINFOobjective_server_nodetype: 0 ×6 + 0.02sINFOobjective_server_nodename: "" ×6 + 0.02sINFOobjective_server_nodeinstance_id: "" ×6 + 0.02sINFOobjective_server_node ×6 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789684356.02769041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789684358.15783358 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789684359.80045485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.93sINFOobjective_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 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3).[0m ×2 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2).[0m ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 7.15sINFOros2_control_node[2026-09-17 22:32:43.094] [info] Received new action goal ×2 + 7.15sINFOros2_control_node[2026-09-17 22:32:43.094] [info] Accepted new action goal ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551324 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551324 ms (missed cycles : 3).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181900 ms (missed cycles : 5). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181900 ms (missed cycles : 5).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295327 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295327 ms (missed cycles : 2).[0m ×2 + 10.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.28sINFOros2_control_node[2026-09-17 22:32:46.225] [info] Received new action goal ×2 + 10.28sINFOros2_control_node[2026-09-17 22:32:46.225] [info] Accepted new action goal ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829216 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829216 ms (missed cycles : 2).[0m ×2 + 11.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929115 ms (missed cycles : 3). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929115 ms (missed cycles : 3).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505927 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505927 ms (missed cycles : 3).[0m ×2 + 13.24sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 13.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.30sINFOros2_control_node[2026-09-17 22:32:49.247] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-09-17 22:32:49.247] [info] Accepted new action goal ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092222 ms (missed cycles : 5). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092222 ms (missed cycles : 5).[0m ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.826143 ms (missed cycles : 6). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.826143 ms (missed cycles : 6).[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130047 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130047 ms (missed cycles : 2).[0m ×2 + 16.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.26sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.26sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.26sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.27sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033737 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033737 ms (missed cycles : 2).[0m ×2 + 17.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767203 ms (missed cycles : 2). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767203 ms (missed cycles : 2).[0m ×2 + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845639 ms (missed cycles : 5). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845639 ms (missed cycles : 5).[0m ×2 + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521786 ms (missed cycles : 2). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521786 ms (missed cycles : 2).[0m ×2 + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387621 ms (missed cycles : 4). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387621 ms (missed cycles : 4).[0m ×2 + 22.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711953 ms (missed cycles : 4). + 22.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711953 ms (missed cycles : 4).[0m ×2 + 23.13sINFOobjective_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 + 23.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.13sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.13sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.13sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.13sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536439 ms (missed cycles : 2). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536439 ms (missed cycles : 2).[0m ×2 + 23.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 24.05sINFOros2_control_node[2026-09-17 22:33:00.001] [info] Received new action goal ×2 + 24.05sINFOros2_control_node[2026-09-17 22:33:00.001] [info] Accepted new action goal ×2 + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802118 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802118 ms (missed cycles : 2).[0m ×2 + 25.22sINFOobjective_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 + 25.23sINFOobjective_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 + 25.50sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 25.51sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.55sINFOros2_control_node[2026-09-17 22:33:01.495] [info] Received new action goal ×2 + 25.55sINFOros2_control_node[2026-09-17 22:33:01.495] [info] Accepted new action goal ×2 + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.264975 ms (missed cycles : 5). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.264975 ms (missed cycles : 5).[0m ×2 + 26.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846709 ms (missed cycles : 3). + 26.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846709 ms (missed cycles : 3).[0m ×2 + 27.69sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 27.70sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.71sINFOros2_control_node[2026-09-17 22:33:03.663] [info] Received new action goal ×2 + 27.71sINFOros2_control_node[2026-09-17 22:33:03.663] [info] Accepted new action goal ×2 + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852588 ms (missed cycles : 5). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852588 ms (missed cycles : 5).[0m ×2 + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507239 ms (missed cycles : 2). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507239 ms (missed cycles : 2).[0m ×2 + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.005709 ms (missed cycles : 5). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.005709 ms (missed cycles : 5).[0m ×2 + 30.69sINFOros2_control_node[2026-09-17 22:33:06.642] [info] Received new action goal ×2 + 30.69sINFOros2_control_node[2026-09-17 22:33:06.642] [info] Accepted new action goal ×2 + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.921183 ms (missed cycles : 6). + 30.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.921183 ms (missed cycles : 6).[0m ×2 + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886867 ms (missed cycles : 2). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886867 ms (missed cycles : 2).[0m ×2 + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898794 ms (missed cycles : 2). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898794 ms (missed cycles : 2).[0m ×2 + 33.29sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 33.29sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.34sINFOros2_control_node[2026-09-17 22:33:09.286] [info] Received new action goal ×2 + 33.34sINFOros2_control_node[2026-09-17 22:33:09.286] [info] Accepted new action goal ×2 + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.594796 ms (missed cycles : 8). + 34.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.594796 ms (missed cycles : 8).[0m ×2 + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.021384 ms (missed cycles : 6). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.021384 ms (missed cycles : 6).[0m ×2 + 36.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148407 ms (missed cycles : 2). + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148407 ms (missed cycles : 2).[0m ×2 + 36.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 37.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836651 ms (missed cycles : 2). + 37.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836651 ms (missed cycles : 2).[0m ×2 + 38.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741693 ms (missed cycles : 2). + 38.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741693 ms (missed cycles : 2).[0m ×2 + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816121 ms (missed cycles : 2). + 39.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816121 ms (missed cycles : 2).[0m ×2 + 40.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605511 ms (missed cycles : 3). + 40.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605511 ms (missed cycles : 3).[0m ×2 + 41.26sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794032 ms (missed cycles : 5). + 41.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794032 ms (missed cycles : 5).[0m ×2 + 42.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 42.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261900 ms (missed cycles : 4). + 42.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261900 ms (missed cycles : 4).[0m ×2 + 43.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968605 ms (missed cycles : 3). + 43.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968605 ms (missed cycles : 3).[0m ×2 + 44.00sINFOros2_control_node[2026-09-17 22:33:19.953] [info] Received new action goal ×2 + 44.00sINFOros2_control_node[2026-09-17 22:33:19.953] [info] Accepted new action goal ×2 + 45.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.947788 ms (missed cycles : 6). + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.947788 ms (missed cycles : 6).[0m ×2 + 45.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789684401.10979891 seconds ×3 + 45.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.75sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 45.95sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789684401.89884305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277571 ms (missed cycles : 5). + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277571 ms (missed cycles : 5).[0m ×2 + 46.98sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 47.00sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.01sINFOros2_control_node[2026-09-17 22:33:22.963] [info] Received new action goal ×2 + 47.02sINFOros2_control_node[2026-09-17 22:33:22.963] [info] Accepted new action goal ×2 + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397434 ms (missed cycles : 2). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397434 ms (missed cycles : 2).[0m ×2 + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433398 ms (missed cycles : 2). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433398 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.2s | 92 warnings · 13536 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2223 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2223 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4446 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4446 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974250 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974250 ms (missed cycles : 2).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758242 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758242 ms (missed cycles : 3).[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418924 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418924 ms (missed cycles : 3).[0m ×2 + 3.25sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789684457.22813702 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152804 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152804 ms (missed cycles : 5).[0m ×2 + 3.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 3.82sINFOobjective_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: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static 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 + 3.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789684457.86046910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.07sINFOros2_control_node[2026-09-17 22:34:18.024] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-17 22:34:18.024] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087334 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087334 ms (missed cycles : 2).[0m ×2 + 5.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.39sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416635 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416635 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283362 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283362 ms (missed cycles : 2).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294935 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294935 ms (missed cycles : 2).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036875 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036875 ms (missed cycles : 2).[0m ×2 + 9.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×4 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.755362 ms (missed cycles : 6). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.755362 ms (missed cycles : 6).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902999 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902999 ms (missed cycles : 2).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809713 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809713 ms (missed cycles : 2).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210446 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210446 ms (missed cycles : 2).[0m ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921241 ms (missed cycles : 2). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921241 ms (missed cycles : 2).[0m ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245846 ms (missed cycles : 2). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245846 ms (missed cycles : 2).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250412 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250412 ms (missed cycles : 2).[0m ×2 + 16.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043551 ms (missed cycles : 2). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043551 ms (missed cycles : 2).[0m ×2 + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762580 ms (missed cycles : 2). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762580 ms (missed cycles : 2).[0m ×2 + 19.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526090 ms (missed cycles : 2). + 19.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526090 ms (missed cycles : 2).[0m ×2 + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797994 ms (missed cycles : 2). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797994 ms (missed cycles : 2).[0m ×2 + 21.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.531800 ms (missed cycles : 8). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.531800 ms (missed cycles : 8).[0m ×2 + 22.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2). + 22.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2).[0m ×2 + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2).[0m ×2 + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2).[0m ×2 + 25.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789684479.38553095 seconds ×3 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3).[0m ×2 + 26.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789684480.11023498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.35sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 26.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.36sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Received new action goal ×2 + 26.36sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Accepted new action goal ×2 + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3).[0m ×2 + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4).[0m ×2 + 28.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 ms (missed cycles : 2). + 28.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 57 warnings · 244 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.17sINFOobjective_server_nodeFound path in 1 iterations (0.00323251 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOros2_control_node[2026-09-17 22:32:20.047] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-17 22:32:20.047] [info] Accepted new action goal ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639662 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639662 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_node[2026-09-17 22:32:20.479] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-17 22:32:20.479] [info] Accepted new action goal ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371601 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371601 ms (missed cycles : 3).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569260 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569260 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.11sINFOros2_control_node[2026-09-17 22:32:22.745] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-09-17 22:32:22.745] [info] Accepted new action goal ×2 + 3.15sINFOobjective_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 + 3.15sINFOros2_control_node[2026-09-17 22:32:22.791] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-09-17 22:32:22.791] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1789684342.79586720 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.70sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.70sINFOobjective_server_nodecaller: ×6 + 3.70sINFOobjective_server_nodetype: 0 ×6 + 3.70sINFOobjective_server_nodename: "" ×6 + 3.70sINFOobjective_server_nodeinstance_id: "" ×6 + 3.70sINFOobjective_server_node ×6 + 3.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789684343.46928048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-17 22:32:23.623] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-17 22:32:23.623] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.391789 ms (missed cycles : 8). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.391789 ms (missed cycles : 8).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178498 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178498 ms (missed cycles : 2).[0m ×2 + 6.48sINFOros2_control_node[2026-09-17 22:32:26.115] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-17 22:32:26.115] [info] Accepted new action goal ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045211 ms (missed cycles : 6). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045211 ms (missed cycles : 6).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434746 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434746 ms (missed cycles : 2).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.440370 ms (missed cycles : 7). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.440370 ms (missed cycles : 7).[0m ×2 + 8.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764160 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764160 ms (missed cycles : 2).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959605 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959605 ms (missed cycles : 2).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401466 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401466 ms (missed cycles : 2).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721039 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721039 ms (missed cycles : 2).[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445146 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445146 ms (missed cycles : 2).[0m ×2 + 15.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789684354.67714739 seconds ×3 + 15.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991439 ms (missed cycles : 3). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991439 ms (missed cycles : 3).[0m ×2 + 15.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.65sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789684355.35519171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789684355.41535139 seconds ×3 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2).[0m ×2 + 16.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.33sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.39sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789684356.02769041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.50sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 16.50sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.51sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Received new action goal ×2 + 16.51sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Accepted new action goal ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2).[0m ×2 + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4).[0m ×2 + 18.52sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789684358.15783358 seconds ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.8s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_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 + 1.85sERRORobjective_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: 1789684296.39149237 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.46sINFOobjective_server_nodecaller: ×8 + 2.46sINFOobjective_server_nodetype: 0 ×8 + 2.46sINFOobjective_server_nodename: "" ×8 + 2.46sINFOobjective_server_nodeinstance_id: "" ×8 + 2.46sINFOobjective_server_node ×8 + 2.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789684297.06547570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789684297.14559841 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789684297.79158139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Accepted new action goal ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620272 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620272 ms (missed cycles : 5).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018439 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018439 ms (missed cycles : 3).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.860273 ms (missed cycles : 7). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.860273 ms (missed cycles : 7).[0m ×2 + 8.50sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.50sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.51sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.80sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 8.80sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 8.82sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.84sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.93sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.95sINFOobjective_server_nodeFound path in 1 iterations (0.00368518 s). ×2 + 9.10sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.19sINFOros2_control_node[2026-09-17 22:31:43.731] [info] Received new action goal ×2 + 9.19sINFOros2_control_node[2026-09-17 22:31:43.731] [info] Accepted new action goal ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729713 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729713 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113852 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113852 ms (missed cycles : 2).[0m ×2 + 11.49sINFOros2_control_node[2026-09-17 22:31:46.034] [info] Received new action goal ×2 + 11.49sINFOros2_control_node[2026-09-17 22:31:46.034] [info] Accepted new action goal ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003367 ms (missed cycles : 5). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003367 ms (missed cycles : 5).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687577 ms (missed cycles : 4). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687577 ms (missed cycles : 4).[0m ×2 + 13.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.12sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Received new action goal ×2 + 13.12sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Accepted new action goal ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4).[0m ×2 + 14.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789684308.96231413 seconds ×3 + 14.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2).[0m ×2 + 15.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789684309.60433650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789684309.66445827 seconds ×3 + 15.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.71sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789684310.30830956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.87sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 15.88sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.89sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Received new action goal ×2 + 15.89sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Accepted new action goal ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7).[0m ×2 + 16.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.5s | 59 warnings · 220 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261900 ms (missed cycles : 4). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261900 ms (missed cycles : 4).[0m ×2 + 0.41sINFOobjective_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 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.41sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.41sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.42sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.42sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968605 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968605 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.32sINFOros2_control_node[2026-09-17 22:33:19.953] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-09-17 22:33:19.953] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.947788 ms (missed cycles : 6). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.947788 ms (missed cycles : 6).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789684401.10979891 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.06sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.06sINFOobjective_server_nodecaller: ×4 + 3.06sINFOobjective_server_nodetype: 0 ×4 + 3.06sINFOobjective_server_nodename: "" ×4 + 3.06sINFOobjective_server_nodeinstance_id: "" ×4 + 3.06sINFOobjective_server_node ×4 + 3.26sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789684401.89884305 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277571 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277571 ms (missed cycles : 5).[0m ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.33sINFOros2_control_node[2026-09-17 22:33:22.963] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-09-17 22:33:22.963] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397434 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397434 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433398 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433398 ms (missed cycles : 2).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595813 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595813 ms (missed cycles : 2).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414174 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414174 ms (missed cycles : 3).[0m ×2 + 8.02sINFOobjective_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 + 8.02sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.02sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.02sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.02sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106631 ms (missed cycles : 4). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106631 ms (missed cycles : 4).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006609 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006609 ms (missed cycles : 2).[0m ×2 + 10.44sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 10.46sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.47sINFOros2_control_node[2026-09-17 22:33:29.109] [info] Received new action goal ×2 + 10.47sINFOros2_control_node[2026-09-17 22:33:29.109] [info] Accepted new action goal ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305016 ms (missed cycles : 4). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305016 ms (missed cycles : 4).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233948 ms (missed cycles : 5). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233948 ms (missed cycles : 5).[0m ×2 + 12.06sWARNros2_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 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.336172 ms (missed cycles : 5). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.336172 ms (missed cycles : 5).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999706 ms (missed cycles : 3). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999706 ms (missed cycles : 3).[0m ×2 + 14.07sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789684412.71225452 seconds ×3 + 14.62sINFOobjective_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: ""
+ 14.62sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789684413.31912136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.84sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 14.84sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.84sINFOros2_control_node[2026-09-17 22:33:33.482] [info] Received new action goal ×2 + 14.84sINFOros2_control_node[2026-09-17 22:33:33.482] [info] Accepted new action goal ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650898 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650898 ms (missed cycles : 3).[0m ×2 + 16.11sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.12sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560517 ms (missed cycles : 2). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560517 ms (missed cycles : 2).[0m ×2 + 17.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114026 ms (missed cycles : 2). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114026 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 61 errors · 39 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789684535.29846454 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6).[0m ×2 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684535.90141892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789684536.83154869 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.15sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789684537.43214893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.15sINFOobjective_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 + 2.15sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789684537.43399835 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789684538.14626169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789684538.18724513 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789684538.78782988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921332 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921332 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789684540.04796219 seconds ×3 + 4.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424635 ms (missed cycles : 4). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424635 ms (missed cycles : 4).[0m ×2 + 6.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232953 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232953 ms (missed cycles : 2).[0m ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810153 ms (missed cycles : 3). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810153 ms (missed cycles : 3).[0m ×2 + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956965 ms (missed cycles : 2). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956965 ms (missed cycles : 2).[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696279 ms (missed cycles : 3). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696279 ms (missed cycles : 3).[0m ×2 + 10.44sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.45sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORweb_video_auth_proxy-23process has died [pid 7341, 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 + 10.45sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.46sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORweb_bridge_auth_proxy-22process has died [pid 7338, 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 + 10.46sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.46sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.47sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.47sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.47sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.48sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.48sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.49sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.49sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.50sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.50sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.50sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.51sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.51sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.52sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.52sINFOcontroller_managerShutdown request received.... + 10.52sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.52sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.52sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.52sINFOvideo_server-21process has finished cleanly [pid 7337] ×2 + 10.52sINFOvideo_server2026/09/17 22:35:45 INF shutting down gracefully ×2 + 10.52sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.52sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.52sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.52sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.52sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.52sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.52sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.52sINFOvideo_server2026/09/17 22:35:45 INF [WebRTC] closing ×2 + 10.52sINFOvideo_server2026/09/17 22:35:45 INF [RTSP] closing ×2 + 10.52sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.52sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.52sINFOvideo_server2026/09/17 22:35:45 INF waiting for running hooks ×2 + 10.52sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.52sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.52sINFOcontroller_managerShutting down the controller manager. + 10.52sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.52sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.52sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.52sERRORmove_groupStack trace (most recent call last) in thread 7700: ×2 + 10.53sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.53sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.53sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa334c3a63, in __clone ×2 + 10.53sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa33436aa3, in ×2 + 10.53sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.53sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.53sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa336c8db3, in ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.53sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7faa33e2cb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.53sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faa33a5a620, in rclcpp::Rate::sleep() ×2 + 10.53sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faa3399cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.53sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faa3395e087, in ×2 + 10.53sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.53sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.53sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.53sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.53sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.53sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.53sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa33697390, in __cxa_throw ×2 + 10.53sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa33681a54, in std::terminate() ×2 + 10.53sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa336970d9, in ×2 + 10.53sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa33681ff4, in ×2 + 10.53sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa333c28fe, in abort ×2 + 10.53sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa333df27d, in raise ×2 + 10.53sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa33438b2c, in pthread_kill ×2 + 10.53sERRORmove_groupAborted (Signal sent by tkill() 7273 0) ×2 + 10.54sERRORmove_group-9process has died [pid 7273, 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_z1ij3fta --params-file /tmp/launch_params_p__5y7t6 --params-file /tmp/launch_params_10__z54i --params-file /tmp/launch_params_lxudf8tv --params-file /tmp/launch_params_v1ut0tww --params-file /tmp/launch_params_h_rxbo6s']. ×2 + 10.73sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.73sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 11.52sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7336] ×2 + 11.52sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.54sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7277] ×2 + 11.55sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7276] ×2 + 11.58sINFOexecute_objective_bridge-17process has finished cleanly [pid 7281] ×2 + 11.58sINFOui_teleop_bridge-18process has finished cleanly [pid 7282] ×2 + 11.59sINFOwaypoint_manager_node-11process has finished cleanly [pid 7275] ×2 + 11.60sINFOparameter_manager_node-10process has finished cleanly [pid 7274] ×2 + 11.64sINFOcomponent_container_mt-16process has finished cleanly [pid 7280] ×2 + 11.65sINFOobjective_server_node[0;m[2026-09-17 22:35:46.933] [moveit_pro_license] [critical] ×2 + 11.65sINFOobjective_server_node************************************************* ×4 + 11.65sINFOobjective_server_node* MoveIt Pro License ×2 + 11.65sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.78sINFOobjective_server_node_main-14process has finished cleanly [pid 7278] ×2 + 11.78sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.67sINFOcomponent_container_mt-15process has finished cleanly [pid 7279] ×2 + 12.78sINFOweb_bridge-19process has finished cleanly [pid 7283] ×2 + 12.78sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.16sINFOros2_control_node-1process has finished cleanly [pid 7222] ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.2s | 3 errors · 54 warnings · 233 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687577 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687577 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 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.41sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789684308.96231413 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.25sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.25sINFOobjective_server_nodecaller: ×6 + 2.25sINFOobjective_server_nodetype: 0 ×6 + 2.25sINFOobjective_server_nodename: "" ×6 + 2.25sINFOobjective_server_nodeinstance_id: "" ×6 + 2.25sINFOobjective_server_node ×6 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789684309.60433650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789684309.66445827 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 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789684310.30830956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.18sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Accepted new action goal ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7).[0m ×2 + 3.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3).[0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X________X] ×8 + 6.55sINFOros2_control_node[2026-09-17 22:31:53.802] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-17 22:31:53.802] [info] Accepted new action goal ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127907 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127907 ms (missed cycles : 2).[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679337 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679337 ms (missed cycles : 2).[0m ×2 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 8.90sINFOros2_control_node[2026-09-17 22:31:56.150] [info] Received new action goal ×2 + 8.90sINFOros2_control_node[2026-09-17 22:31:56.150] [info] Accepted new action goal ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756703 ms (missed cycles : 2). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756703 ms (missed cycles : 2).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668075 ms (missed cycles : 4). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668075 ms (missed cycles : 4).[0m ×2 + 10.38sWARNros2_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 + 11.24sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 11.25sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Received new action goal ×2 + 11.25sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Accepted new action goal ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2).[0m ×2 + 13.58sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 13.59sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Received new action goal ×2 + 13.59sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Accepted new action goal ×2 + 13.63sINFOobjective_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 + 13.64sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Got request to cancel active goal. ×2 + 13.64sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Canceling active goal... ×2 + 13.64sERRORobjective_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: 1789684320.89189029 seconds ×3 + 14.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.21sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789684321.53102064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.47sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 14.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.48sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Received new action goal ×2 + 14.48sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Accepted new action goal ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4).[0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3).[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4).[0m ×2 + 1.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.16sERRORobjective_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: 1789684522.78972173 seconds ×3 + 1.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.73sINFOobjective_server_nodecaller: ×14 + 1.73sINFOobjective_server_nodetype: 0 ×14 + 1.73sINFOobjective_server_nodename: "" ×14 + 1.73sINFOobjective_server_nodeinstance_id: "" ×14 + 1.73sINFOobjective_server_node ×14 + 1.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789684523.40721941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789684523.49735856 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789684524.09676838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789684524.12993336 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2).[0m ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.18sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789684524.80409837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.29sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237643 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237643 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818371 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818371 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.60sINFOros2_control_node[2026-09-17 22:35:28.227] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-17 22:35:28.227] [info] Accepted new action goal ×2 + 6.60sINFOros2_control_node[2026-09-17 22:35:28.227] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008945 ms (missed cycles : 4). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008945 ms (missed cycles : 4).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862538 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862538 ms (missed cycles : 2).[0m ×2 + 9.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291407 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291407 ms (missed cycles : 2).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139976 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139976 ms (missed cycles : 2).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393573 ms (missed cycles : 6). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393573 ms (missed cycles : 6).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001358 ms (missed cycles : 4). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001358 ms (missed cycles : 4).[0m ×2 + 13.67sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Got request to cancel active goal. ×2 + 13.67sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Canceling active goal... ×2 + 13.67sERRORobjective_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: 1789684535.29846454 seconds ×3 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6).[0m ×2 + 14.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684535.90141892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5).[0m ×2 + 15.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789684536.83154869 seconds ×3 + 15.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.75sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789684537.43214893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.81sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789684537.43399835 seconds ×3 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5).[0m ×2 + 16.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.47sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.52sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789684538.14626169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789684538.18724513 seconds ×3 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5).[0m ×2 + 17.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.10sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789684538.78782988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 56 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.73sINFOobjective_server_nodecaller: ×12 + 0.73sINFOobjective_server_nodetype: 0 ×12 + 0.73sINFOobjective_server_nodename: "" ×12 + 0.73sINFOobjective_server_nodeinstance_id: "" ×12 + 0.73sINFOobjective_server_node ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.77sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 5.94sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.26sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.29sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.29sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532021 ms (missed cycles : 4). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532021 ms (missed cycles : 4).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751955 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751955 ms (missed cycles : 2).[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175211 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175211 ms (missed cycles : 2).[0m ×2 + 9.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.90sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 9.93sINFOros2_control_node[2026-09-17 22:31:21.190] [info] Received new action goal ×2 + 9.93sINFOros2_control_node[2026-09-17 22:31:21.190] [info] Accepted new action goal ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190670 ms (missed cycles : 4). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190670 ms (missed cycles : 4).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605392 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605392 ms (missed cycles : 2).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863424 ms (missed cycles : 3). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863424 ms (missed cycles : 3).[0m ×2 + 13.25sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 13.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.26sINFOros2_control_node[2026-09-17 22:31:24.520] [info] Received new action goal ×2 + 13.26sINFOros2_control_node[2026-09-17 22:31:24.520] [info] Accepted new action goal ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877858 ms (missed cycles : 3). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877858 ms (missed cycles : 3).[0m ×2 + 14.13sINFOobjective_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 + 14.14sINFOros2_control_node[2026-09-17 22:31:25.396] [info] Got request to cancel active goal. ×2 + 14.14sINFOros2_control_node[2026-09-17 22:31:25.396] [info] Canceling active goal... ×2 + 14.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789684285.42171860 seconds ×3 + 14.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796007 ms (missed cycles : 2). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796007 ms (missed cycles : 2).[0m ×2 + 14.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789684286.04057956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 15.00sINFOros2_control_node[2026-09-17 22:31:26.254] [info] Received new action goal ×2 + 15.00sINFOros2_control_node[2026-09-17 22:31:26.254] [info] Accepted new action goal ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.579527 ms (missed cycles : 7). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.579527 ms (missed cycles : 7).[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244797 ms (missed cycles : 5). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244797 ms (missed cycles : 5).[0m ×2 + 17.28sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 17.28sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.30sINFOros2_control_node[2026-09-17 22:31:28.554] [info] Received new action goal ×2 + 17.30sINFOros2_control_node[2026-09-17 22:31:28.554] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860518 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860518 ms (missed cycles : 2).[0m ×2 + 0.13sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.13sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.13sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789684328.78305244 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317037 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317037 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.796977 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.796977 ms (missed cycles : 6).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600253 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600253 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789684332.42120528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-17 22:32:12.635] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-17 22:32:12.635] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752871 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752871 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919138 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919138 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519555 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519555 ms (missed cycles : 5).[0m ×2 + 7.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.39sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667829 ms (missed cycles : 5). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667829 ms (missed cycles : 5).[0m ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 7.71sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.82sINFOobjective_server_nodeFound path in 5 iterations (0.00516518 s). ×2 + 7.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 7.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.49sINFOros2_control_node[2026-09-17 22:32:17.108] [info] Received new action goal ×2 + 8.49sINFOros2_control_node[2026-09-17 22:32:17.108] [info] Accepted new action goal ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816342 ms (missed cycles : 4). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816342 ms (missed cycles : 4).[0m ×2 + 8.59sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302454 ms (missed cycles : 5). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302454 ms (missed cycles : 5).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262910 ms (missed cycles : 5). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.262910 ms (missed cycles : 5).[0m ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 11.02sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.03sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 11.03sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.05sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 11.19sINFOobjective_server_nodeFound path in 1 iterations (0.00323251 s). ×2 + 11.35sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.43sINFOros2_control_node[2026-09-17 22:32:20.047] [info] Received new action goal ×2 + 11.43sINFOros2_control_node[2026-09-17 22:32:20.047] [info] Accepted new action goal ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639662 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639662 ms (missed cycles : 2).[0m ×2 + 11.86sINFOros2_control_node[2026-09-17 22:32:20.479] [info] Received new action goal ×2 + 11.86sINFOros2_control_node[2026-09-17 22:32:20.479] [info] Accepted new action goal ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371601 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371601 ms (missed cycles : 3).[0m ×2 + 13.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569260 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569260 ms (missed cycles : 2).[0m ×2 + 14.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.13sINFOros2_control_node[2026-09-17 22:32:22.745] [info] Received new action goal ×2 + 14.13sINFOros2_control_node[2026-09-17 22:32:22.745] [info] Accepted new action goal ×2 + 14.17sINFOobjective_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 + 14.18sINFOros2_control_node[2026-09-17 22:32:22.791] [info] Got request to cancel active goal. ×2 + 14.18sINFOros2_control_node[2026-09-17 22:32:22.791] [info] Canceling active goal... ×2 + 14.18sERRORobjective_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: 1789684342.79586720 seconds ×3 + 14.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.73sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.85sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789684343.46928048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 15.01sINFOros2_control_node[2026-09-17 22:32:23.623] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-09-17 22:32:23.623] [info] Accepted new action goal ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.391789 ms (missed cycles : 8). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.391789 ms (missed cycles : 8).[0m ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178498 ms (missed cycles : 2). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178498 ms (missed cycles : 2).[0m ×2 + 17.50sINFOros2_control_node[2026-09-17 22:32:26.115] [info] Received new action goal ×2 + 17.50sINFOros2_control_node[2026-09-17 22:32:26.115] [info] Accepted new action goal ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045211 ms (missed cycles : 6). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045211 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605392 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605392 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863424 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863424 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.68sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 1.69sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.69sINFOros2_control_node[2026-09-17 22:31:24.520] [info] Received new action goal ×2 + 1.69sINFOros2_control_node[2026-09-17 22:31:24.520] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877858 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877858 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_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 + 2.57sINFOros2_control_node[2026-09-17 22:31:25.396] [info] Got request to cancel active goal. ×2 + 2.57sINFOros2_control_node[2026-09-17 22:31:25.396] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1789684285.42171860 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.14sINFOobjective_server_nodecaller: ×6 + 3.14sINFOobjective_server_nodetype: 0 ×6 + 3.14sINFOobjective_server_nodename: "" ×6 + 3.14sINFOobjective_server_nodeinstance_id: "" ×6 + 3.14sINFOobjective_server_node ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796007 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796007 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789684286.04057956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.43sINFOros2_control_node[2026-09-17 22:31:26.254] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-17 22:31:26.254] [info] Accepted new action goal ×2 + 3.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.579527 ms (missed cycles : 7). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.579527 ms (missed cycles : 7).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244797 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244797 ms (missed cycles : 5).[0m ×2 + 5.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.71sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.71sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.73sINFOros2_control_node[2026-09-17 22:31:28.554] [info] Received new action goal ×2 + 5.73sINFOros2_control_node[2026-09-17 22:31:28.554] [info] Accepted new action goal ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163164 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163164 ms (missed cycles : 4).[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825761 ms (missed cycles : 4). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825761 ms (missed cycles : 4).[0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267301 ms (missed cycles : 4). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267301 ms (missed cycles : 4).[0m ×2 + 9.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333851 ms (missed cycles : 4). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333851 ms (missed cycles : 4).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2).[0m ×2 + 13.57sERRORobjective_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: 1789684296.39149237 seconds ×3 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2).[0m ×2 + 14.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.18sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789684297.06547570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789684297.14559841 seconds ×3 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2).[0m ×2 + 14.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789684297.79158139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 15.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.16sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Received new action goal ×2 + 15.16sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Accepted new action goal ×2 + 15.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512910 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512910 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347878 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347878 ms (missed cycles : 6).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602223 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602223 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789684511.82951498 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680987 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680987 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.81sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.81sINFOobjective_server_nodecaller: ×8 + 3.81sINFOobjective_server_nodetype: 0 ×8 + 3.81sINFOobjective_server_nodename: "" ×8 + 3.81sINFOobjective_server_nodeinstance_id: "" ×8 + 3.81sINFOobjective_server_node ×8 + 3.88sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789684512.48939323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.00sINFOros2_control_node[2026-09-17 22:35:12.613] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-17 22:35:12.613] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703498 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703498 ms (missed cycles : 5).[0m ×2 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672837 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672837 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629302 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629302 ms (missed cycles : 4).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809849 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809849 ms (missed cycles : 3).[0m ×2 + 8.60sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052300 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052300 ms (missed cycles : 2).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773306 ms (missed cycles : 3). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773306 ms (missed cycles : 3).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396945 ms (missed cycles : 4). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396945 ms (missed cycles : 4).[0m ×2 + 11.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4).[0m ×2 + 14.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sERRORobjective_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: 1789684522.78972173 seconds ×3 + 14.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789684523.40721941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.83sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.83sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789684523.49735856 seconds ×3 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2).[0m ×2 + 15.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.49sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789684524.09676838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.52sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.52sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789684524.12993336 seconds ×3 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2).[0m ×2 + 16.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 16.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789684524.80409837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.30sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 16.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 16.31sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Received new action goal ×2 + 16.31sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Accepted new action goal ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 139 info |
+ 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Accepted new action goal ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789684489.93039703 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4).[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.88sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.88sINFOobjective_server_nodecaller: ×4 + 3.88sINFOobjective_server_nodetype: 0 ×4 + 3.88sINFOobjective_server_nodename: "" ×4 + 3.88sINFOobjective_server_nodeinstance_id: "" ×4 + 3.88sINFOobjective_server_node ×4 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789684490.97443604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655634 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655634 ms (missed cycles : 2).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844687 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844687 ms (missed cycles : 3).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961343 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961343 ms (missed cycles : 2).[0m ×2 + 9.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839233 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839233 ms (missed cycles : 2).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799909 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799909 ms (missed cycles : 2).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337550 ms (missed cycles : 5). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337550 ms (missed cycles : 5).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014022 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014022 ms (missed cycles : 2).[0m ×2 + 14.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.29sERRORobjective_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: 1789684501.29485989 seconds ×3 + 14.58sWARNros2_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 + 14.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.84sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465044 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465044 ms (missed cycles : 2).[0m ×2 + 14.90sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789684501.90242600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 15.21sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.23sINFOros2_control_node[2026-09-17 22:35:02.226] [info] Received new action goal ×2 + 15.23sINFOros2_control_node[2026-09-17 22:35:02.226] [info] Accepted new action goal ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784008 ms (missed cycles : 6). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784008 ms (missed cycles : 6).[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850711 ms (missed cycles : 3). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850711 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 55 warnings · 199 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Accepted new action goal ×2 + 2.49sINFOobjective_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 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Got request to cancel active goal. ×2 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1789684320.89189029 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.07sINFOobjective_server_nodecaller: ×4 + 3.07sINFOobjective_server_nodetype: 0 ×4 + 3.07sINFOobjective_server_nodename: "" ×4 + 3.07sINFOobjective_server_nodeinstance_id: "" ×4 + 3.07sINFOobjective_server_node ×4 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789684321.53102064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3).[0m ×2 + 6.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.66sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145123 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145123 ms (missed cycles : 2).[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 6.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 6.95sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 7.00sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.01sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 7.09sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.12sINFOobjective_server_nodeFound path in 5 iterations (0.00555959 s). ×2 + 7.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.24sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 7.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.37sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.54sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.963020 ms (missed cycles : 6). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.963020 ms (missed cycles : 6).[0m ×2 + 7.82sINFOros2_control_node[2026-09-17 22:32:06.221] [info] Received new action goal ×2 + 7.82sINFOros2_control_node[2026-09-17 22:32:06.221] [info] Accepted new action goal ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697049 ms (missed cycles : 3). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697049 ms (missed cycles : 3).[0m ×2 + 10.08sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860518 ms (missed cycles : 2). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860518 ms (missed cycles : 2).[0m ×2 + 10.35sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.35sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.35sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789684328.78305244 seconds ×3 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317037 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317037 ms (missed cycles : 2).[0m ×2 + 11.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.796977 ms (missed cycles : 6). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.796977 ms (missed cycles : 6).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600253 ms (missed cycles : 3). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600253 ms (missed cycles : 3).[0m ×2 + 13.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.93sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.02sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789684332.42120528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.22sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 14.24sINFOros2_control_node[2026-09-17 22:32:12.635] [info] Received new action goal ×2 + 14.24sINFOros2_control_node[2026-09-17 22:32:12.635] [info] Accepted new action goal ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752871 ms (missed cycles : 2). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752871 ms (missed cycles : 2).[0m ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919138 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919138 ms (missed cycles : 2).[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519555 ms (missed cycles : 5). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519555 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 57 warnings · 2268 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×345 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×345 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×690 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×690 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789684479.38553095 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3).[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 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789684480.11023498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 ms (missed cycles : 2).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267333 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267333 ms (missed cycles : 2).[0m ×2 + 7.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 7.86sINFOobjective_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 (2.13e-07 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.30sINFOobjective_server_nodeFound path in 1 iterations (0.00432046 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.57sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.59sINFOros2_control_node[2026-09-17 22:34:44.698] [info] Received new action goal ×2 + 8.59sINFOros2_control_node[2026-09-17 22:34:44.698] [info] Accepted new action goal ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780798 ms (missed cycles : 5). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780798 ms (missed cycles : 5).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989638 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989638 ms (missed cycles : 3).[0m ×2 + 10.89sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Received new action goal ×2 + 10.89sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Accepted new action goal ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3).[0m ×2 + 12.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.53sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Received new action goal ×2 + 12.53sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Accepted new action goal ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3).[0m ×2 + 13.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789684489.93039703 seconds ×3 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4).[0m ×2 + 14.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 14.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.77sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789684490.97443604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 15.05sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Received new action goal ×2 + 15.05sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Accepted new action goal ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3).[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4).[0m ×2 + 16.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2).[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 2.799909 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799909 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337550 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337550 ms (missed cycles : 5).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014022 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014022 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789684501.29485989 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.94sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.20sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.20sINFOobjective_server_nodecaller: ×4 + 3.20sINFOobjective_server_nodetype: 0 ×4 + 3.20sINFOobjective_server_nodename: "" ×4 + 3.20sINFOobjective_server_nodeinstance_id: "" ×4 + 3.20sINFOobjective_server_node ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465044 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465044 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789684501.90242600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.59sINFOros2_control_node[2026-09-17 22:35:02.226] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-17 22:35:02.226] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784008 ms (missed cycles : 6). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784008 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850711 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850711 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434120 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434120 ms (missed cycles : 2).[0m ×2 + 7.61sINFOros2_control_node[2026-09-17 22:35:06.244] [info] Received new action goal ×2 + 7.61sINFOros2_control_node[2026-09-17 22:35:06.244] [info] Accepted new action goal ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861309 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861309 ms (missed cycles : 3).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582896 ms (missed cycles : 4). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582896 ms (missed cycles : 4).[0m ×2 + 9.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512910 ms (missed cycles : 5). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512910 ms (missed cycles : 5).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347878 ms (missed cycles : 6). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347878 ms (missed cycles : 6).[0m ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602223 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602223 ms (missed cycles : 2).[0m ×2 + 13.20sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789684511.82951498 seconds ×3 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680987 ms (missed cycles : 2). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680987 ms (missed cycles : 2).[0m ×2 + 13.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.78sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.86sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789684512.48939323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.97sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 13.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.98sINFOros2_control_node[2026-09-17 22:35:12.613] [info] Received new action goal ×2 + 13.98sINFOros2_control_node[2026-09-17 22:35:12.613] [info] Accepted new action goal ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703498 ms (missed cycles : 5). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703498 ms (missed cycles : 5).[0m ×2 + 15.07sWARNros2_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 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672837 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672837 ms (missed cycles : 2).[0m ×2 + 15.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629302 ms (missed cycles : 4). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629302 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721039 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721039 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445146 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445146 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789684354.67714739 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sWARNros2_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 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991439 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991439 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.58sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.58sINFOobjective_server_nodecaller: ×6 + 2.58sINFOobjective_server_nodetype: 0 ×6 + 2.58sINFOobjective_server_nodename: "" ×6 + 2.58sINFOobjective_server_nodeinstance_id: "" ×6 + 2.58sINFOobjective_server_node ×6 + 2.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789684355.35519171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.67sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789684355.41535139 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.31sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789684356.02769041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.44sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789684358.15783358 seconds ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2).[0m ×2 + 7.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.02sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789684359.80045485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.16sINFOobjective_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 + 7.17sINFOobjective_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 + 7.45sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 7.45sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.51sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Received new action goal ×2 + 7.51sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Accepted new action goal ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3).[0m ×2 + 8.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.5s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139976 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393573 ms (missed cycles : 6). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393573 ms (missed cycles : 6).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001358 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001358 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Canceling active goal... ×2 + 3.17sERRORobjective_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: 1789684535.29846454 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6).[0m ×2 + 3.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.71sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.71sINFOobjective_server_nodecaller: ×8 + 3.72sINFOobjective_server_nodetype: 0 ×8 + 3.72sINFOobjective_server_nodename: "" ×8 + 3.72sINFOobjective_server_nodeinstance_id: "" ×8 + 3.72sINFOobjective_server_node ×8 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684535.90141892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789684536.83154869 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.30sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789684537.43214893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.30sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.30sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789684537.43399835 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789684538.14626169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789684538.18724513 seconds ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5).[0m ×2 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.59sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789684538.78782988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921332 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921332 ms (missed cycles : 3).[0m ×2 + 7.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789684540.04796219 seconds ×3 + 7.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 39 warnings · 669 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.11sINFOcomponent_container_mt[2026-09-17 22:31:07.171] [moveit_pro_license] [info] ×2 + 0.11sINFOcomponent_container_mt************************************************* ×4 + 0.11sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.11sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.11sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.11sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.11sWARNros2_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 + 0.11sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.12sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.12sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.12sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.12sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.12sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.12sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.12sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.12sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.12sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.12sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.12sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.12sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.12sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.12sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.12sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.12sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.12sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.12sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.12sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.12sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.12sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.12sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.12sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.12sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.12sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.12sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.12sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968750 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968750 ms (missed cycles : 2).[0m ×2 + 0.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.20sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.20sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.20sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.20sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.31sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.31sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.33sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.33sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.33sINFOros2_control_node[2026-09-17 22:31:07.394] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.33sINFOros2_control_node[2026-09-17 22:31:07.394] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.36sINFOros2_control_node[2026-09-17 22:31:07.422] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.36sINFOros2_control_node[2026-09-17 22:31:07.422] [info] Controller state will be published at 50 Hz. ×2 + 0.37sINFOros2_control_node[2026-09-17 22:31:07.429] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.48sWARNobjective_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 + 0.61sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.61sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.61sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.61sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.62sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.62sINFOros2_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 + 0.62sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.63sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.65sINFOros2-6process has finished cleanly [pid 7227] ×2 + 0.66sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.66sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.66sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.66sINFOforce_torque_sensor_broadcasterconfigure successful + 0.66sINFOros2_control_nodeconfigure successful[0m ×2 + 0.67sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.67sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.67sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.67sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.93sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.93sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.94sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.94sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.97sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.97sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.97sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.97sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.97sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.97sINFOros2-2process has finished cleanly [pid 7223] ×2 + 0.98sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.98sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.98sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.98sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649542 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649542 ms (missed cycles : 4).[0m ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.29sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.29sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.33sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.34sINFOros2-4process has finished cleanly [pid 7225] ×2 + 1.38sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 1.38sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 1.41sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.41sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.44sINFOros2_control_node[2026-09-17 22:31:08.505] [info] Controller state will be published at 20 Hz. ×2 + 1.44sINFOros2_control_node[2026-09-17 22:31:08.506] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.76sINFOros2-8process has finished cleanly [pid 7229] ×2 + 1.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.76sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.76sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 1.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 1.88sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.88sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.88sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.88sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.90sINFOros2_control_node[2026-09-17 22:31:08.967] [info] Controller state will be published at 10 Hz. ×2 + 1.90sINFOros2_control_node[2026-09-17 22:31:08.968] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.20sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.23sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.23sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.23sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.23sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.23sINFOros2-7process has finished cleanly [pid 7228] ×2 + 2.23sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 2.23sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 2.28sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.28sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.29sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.29sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.29sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.29sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.29sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.29sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.30sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.30sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.60sINFOros2-5process has finished cleanly [pid 7226] ×2 + 2.61sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.61sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.61sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.61sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.61sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 2.61sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 2.62sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.62sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.65sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.65sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.65sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.66sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.66sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3).[0m ×2 + 2.67sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.67sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.78sINFOobjective_server_nodecaller: ×14 + 2.78sINFOobjective_server_nodetype: 0 ×14 + 2.78sINFOobjective_server_nodename: "" ×14 + 2.78sINFOobjective_server_nodeinstance_id: "" ×14 + 2.78sINFOobjective_server_node ×14 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684269.90016079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684269.91043901 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.85sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.85sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.99sINFOros2-3process has finished cleanly [pid 7224] ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789684270.50572157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 4.19sWARNros2_control_nodeCamera render tick took 1.87 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 + 4.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 6.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 6.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.18sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 7.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 7.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.76sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.94sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.96sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 7.96sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[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 5.001358 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001358 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_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 + 0.80sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Got request to cancel active goal. ×2 + 0.80sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Canceling active goal... ×2 + 0.81sERRORobjective_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: 1789684535.29846454 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6).[0m ×2 + 1.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.36sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.36sINFOobjective_server_nodecaller: ×8 + 1.36sINFOobjective_server_nodetype: 0 ×8 + 1.36sINFOobjective_server_nodename: "" ×8 + 1.36sINFOobjective_server_nodeinstance_id: "" ×8 + 1.36sINFOobjective_server_node ×8 + 1.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684535.90141892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789684536.83154869 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789684537.43214893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.94sINFOobjective_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 + 2.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789684537.43399835 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789684538.14626169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789684538.18724513 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5).[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789684538.78782988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921332 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921332 ms (missed cycles : 3).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789684540.04796219 seconds ×3 + 5.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424635 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424635 ms (missed cycles : 4).[0m ×2 + 7.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 26 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401466 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401466 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721039 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721039 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445146 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445146 ms (missed cycles : 2).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789684354.67714739 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991439 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991439 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789684355.35519171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789684355.41535139 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.39sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789684356.02769041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.52sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789684358.15783358 seconds ×3 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 28 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396945 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396945 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sERRORobjective_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: 1789684522.78972173 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.78sINFOobjective_server_nodecaller: ×6 + 3.78sINFOobjective_server_nodetype: 0 ×6 + 3.78sINFOobjective_server_nodename: "" ×6 + 3.78sINFOobjective_server_nodeinstance_id: "" ×6 + 3.78sINFOobjective_server_node ×6 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789684523.40721941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.89sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789684523.49735856 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.52sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789684524.09676838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789684524.12993336 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789684524.80409837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.34sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237643 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237643 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-17 22:31:46.034] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 22:31:46.034] [info] Accepted new action goal ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003367 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003367 ms (missed cycles : 5).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687577 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687577 ms (missed cycles : 4).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Accepted new action goal ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789684308.96231413 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789684309.60433650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789684309.66445827 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: 1789684310.30830956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.40sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7).[0m ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_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 + 1.85sERRORobjective_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: 1789684296.39149237 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.46sINFOobjective_server_nodecaller: ×4 + 2.46sINFOobjective_server_nodetype: 0 ×4 + 2.46sINFOobjective_server_nodename: "" ×4 + 2.46sINFOobjective_server_nodeinstance_id: "" ×4 + 2.46sINFOobjective_server_node ×4 + 2.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789684297.06547570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789684297.14559841 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789684297.79158139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Accepted new action goal ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620272 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620272 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 497 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-09-17 22:31:08.505] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-17 22:31:08.506] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOros2-8process has finished cleanly [pid 7229] ×2 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.49sINFOros2_control_node[2026-09-17 22:31:08.967] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-09-17 22:31:08.968] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.78sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.81sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.87sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.87sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.88sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.88sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.88sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.88sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.19sINFOros2-5process has finished cleanly [pid 7226] ×2 + 1.20sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.20sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.20sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.20sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 1.20sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 1.21sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.24sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.24sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.24sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3).[0m ×2 + 1.25sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.25sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.37sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.37sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.37sINFOobjective_server_nodecaller: ×14 + 1.37sINFOobjective_server_nodetype: 0 ×14 + 1.37sINFOobjective_server_nodename: "" ×14 + 1.37sINFOobjective_server_nodeinstance_id: "" ×14 + 1.37sINFOobjective_server_node ×14 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684269.90016079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684269.91043901 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.58sINFOros2-3process has finished cleanly [pid 7224] ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789684270.50572157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.54sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_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 + 2.20sERRORobjective_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: 1789684522.78972173 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.22sINFOros2_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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.77sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.77sINFOobjective_server_nodecaller: ×6 + 2.77sINFOobjective_server_nodetype: 0 ×6 + 2.77sINFOobjective_server_nodename: "" ×6 + 2.77sINFOobjective_server_nodeinstance_id: "" ×6 + 2.77sINFOobjective_server_node ×6 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789684523.40721941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789684523.49735856 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.51sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789684524.09676838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789684524.12993336 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2).[0m ×2 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789684524.80409837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.33sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237643 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237643 ms (missed cycles : 2).[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 5.001358 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001358 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_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 + 0.80sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Got request to cancel active goal. ×2 + 0.80sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Canceling active goal... ×2 + 0.81sERRORobjective_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: 1789684535.29846454 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6).[0m ×2 + 1.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.36sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.36sINFOobjective_server_nodecaller: ×8 + 1.36sINFOobjective_server_nodetype: 0 ×8 + 1.36sINFOobjective_server_nodename: "" ×8 + 1.36sINFOobjective_server_nodeinstance_id: "" ×8 + 1.36sINFOobjective_server_node ×8 + 1.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684535.90141892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789684536.83154869 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789684537.43214893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.94sINFOobjective_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 + 2.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789684537.43399835 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789684538.14626169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789684538.18724513 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5).[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789684538.78782988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921332 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921332 ms (missed cycles : 3).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789684540.04796219 seconds ×3 + 5.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424635 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424635 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2158 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×345 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×345 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×690 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×690 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789684479.38553095 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3).[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 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789684480.11023498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 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 5.687577 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687577 ms (missed cycles : 4).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.41sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789684308.96231413 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.25sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.25sINFOobjective_server_nodecaller: ×4 + 2.25sINFOobjective_server_nodetype: 0 ×4 + 2.25sINFOobjective_server_nodename: "" ×4 + 2.25sINFOobjective_server_nodeinstance_id: "" ×4 + 2.25sINFOobjective_server_node ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789684309.60433650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789684309.66445827 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 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789684310.30830956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.18sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Accepted new action goal ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7).[0m ×2 + 3.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Accepted new action goal ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789684489.93039703 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4).[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789684490.97443604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 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 · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Accepted new action goal ×2 + 2.49sINFOobjective_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 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Got request to cancel active goal. ×2 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1789684320.89189029 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789684321.53102064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3).[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 2.594947 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_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 + 1.85sERRORobjective_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: 1789684296.39149237 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.46sINFOobjective_server_nodecaller: ×4 + 2.46sINFOobjective_server_nodetype: 0 ×4 + 2.46sINFOobjective_server_nodename: "" ×4 + 2.46sINFOobjective_server_nodeinstance_id: "" ×4 + 2.46sINFOobjective_server_node ×4 + 2.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789684297.06547570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789684297.14559841 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789684297.79158139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Accepted new action goal ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 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 2.594947 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_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 + 1.85sERRORobjective_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: 1789684296.39149237 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.46sINFOobjective_server_nodecaller: ×4 + 2.46sINFOobjective_server_nodetype: 0 ×4 + 2.46sINFOobjective_server_nodename: "" ×4 + 2.46sINFOobjective_server_nodeinstance_id: "" ×4 + 2.46sINFOobjective_server_node ×4 + 2.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789684297.06547570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789684297.14559841 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789684297.79158139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Accepted new action goal ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 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 2.594947 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_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 + 1.85sERRORobjective_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: 1789684296.39149237 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.46sINFOobjective_server_nodecaller: ×4 + 2.46sINFOobjective_server_nodetype: 0 ×4 + 2.46sINFOobjective_server_nodename: "" ×4 + 2.46sINFOobjective_server_nodeinstance_id: "" ×4 + 2.46sINFOobjective_server_node ×4 + 2.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789684297.06547570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789684297.14559841 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789684297.79158139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Accepted new action goal ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620272 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620272 ms (missed cycles : 5).[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 2.594947 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_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 + 1.85sERRORobjective_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: 1789684296.39149237 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.46sINFOobjective_server_nodecaller: ×4 + 2.46sINFOobjective_server_nodetype: 0 ×4 + 2.46sINFOobjective_server_nodename: "" ×4 + 2.46sINFOobjective_server_nodeinstance_id: "" ×4 + 2.46sINFOobjective_server_node ×4 + 2.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789684297.06547570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789684297.14559841 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789684297.79158139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Accepted new action goal ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620272 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620272 ms (missed cycles : 5).[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 2.594947 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_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 + 1.85sERRORobjective_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: 1789684296.39149237 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.46sINFOobjective_server_nodecaller: ×4 + 2.46sINFOobjective_server_nodetype: 0 ×4 + 2.46sINFOobjective_server_nodename: "" ×4 + 2.46sINFOobjective_server_nodeinstance_id: "" ×4 + 2.46sINFOobjective_server_node ×4 + 2.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789684297.06547570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789684297.14559841 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789684297.79158139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Accepted new action goal ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620272 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620272 ms (missed cycles : 5).[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 2.594947 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043387 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_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 + 1.85sERRORobjective_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: 1789684296.39149237 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061734 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.46sINFOobjective_server_nodecaller: ×4 + 2.46sINFOobjective_server_nodetype: 0 ×4 + 2.46sINFOobjective_server_nodename: "" ×4 + 2.46sINFOobjective_server_nodeinstance_id: "" ×4 + 2.46sINFOobjective_server_node ×4 + 2.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789684297.06547570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789684297.14559841 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897963 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789684297.79158139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-17 22:31:37.985] [info] Accepted new action goal ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933989 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973713 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620272 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620272 ms (missed cycles : 5).[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 5.687577 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687577 ms (missed cycles : 4).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.41sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789684308.96231413 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.25sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.25sINFOobjective_server_nodecaller: ×4 + 2.25sINFOobjective_server_nodetype: 0 ×4 + 2.25sINFOobjective_server_nodename: "" ×4 + 2.25sINFOobjective_server_nodeinstance_id: "" ×4 + 2.25sINFOobjective_server_node ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789684309.60433650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789684309.66445827 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 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789684310.30830956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.18sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Accepted new action goal ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7).[0m ×2 + 3.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3).[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 5.687577 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687577 ms (missed cycles : 4).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.41sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789684308.96231413 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.25sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.25sINFOobjective_server_nodecaller: ×4 + 2.25sINFOobjective_server_nodetype: 0 ×4 + 2.25sINFOobjective_server_nodename: "" ×4 + 2.25sINFOobjective_server_nodeinstance_id: "" ×4 + 2.25sINFOobjective_server_node ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789684309.60433650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789684309.66445827 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 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789684310.30830956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.18sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Accepted new action goal ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7).[0m ×2 + 3.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687577 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687577 ms (missed cycles : 4).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.41sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789684308.96231413 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.25sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.25sINFOobjective_server_nodecaller: ×4 + 2.25sINFOobjective_server_nodetype: 0 ×4 + 2.25sINFOobjective_server_nodename: "" ×4 + 2.25sINFOobjective_server_nodeinstance_id: "" ×4 + 2.25sINFOobjective_server_node ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789684309.60433650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789684309.66445827 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 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789684310.30830956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.18sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Accepted new action goal ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7).[0m ×2 + 3.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3).[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 5.687577 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687577 ms (missed cycles : 4).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.41sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-17 22:31:47.666] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678966 ms (missed cycles : 4).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789684308.96231413 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.25sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.25sINFOobjective_server_nodecaller: ×4 + 2.25sINFOobjective_server_nodetype: 0 ×4 + 2.25sINFOobjective_server_nodename: "" ×4 + 2.25sINFOobjective_server_nodeinstance_id: "" ×4 + 2.25sINFOobjective_server_node ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372285 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789684309.60433650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789684309.66445827 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 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789684310.30830956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.18sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-17 22:31:50.433] [info] Accepted new action goal ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825148 ms (missed cycles : 7).[0m ×2 + 3.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538967 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785955 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Accepted new action goal ×2 + 2.49sINFOobjective_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 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Got request to cancel active goal. ×2 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1789684320.89189029 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789684321.53102064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 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 · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Accepted new action goal ×2 + 2.49sINFOobjective_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 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Got request to cancel active goal. ×2 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1789684320.89189029 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789684321.53102064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Accepted new action goal ×2 + 2.49sINFOobjective_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 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Got request to cancel active goal. ×2 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1789684320.89189029 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789684321.53102064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Accepted new action goal ×2 + 2.49sINFOobjective_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 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Got request to cancel active goal. ×2 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1789684320.89189029 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789684321.53102064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Accepted new action goal ×2 + 2.49sINFOobjective_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 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Got request to cancel active goal. ×2 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1789684320.89189029 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789684321.53102064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 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 · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Accepted new action goal ×2 + 2.49sINFOobjective_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 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Got request to cancel active goal. ×2 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1789684320.89189029 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789684321.53102064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Accepted new action goal ×2 + 2.49sINFOobjective_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 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Got request to cancel active goal. ×2 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1789684320.89189029 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789684321.53102064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Accepted new action goal ×2 + 2.49sINFOobjective_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 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Got request to cancel active goal. ×2 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1789684320.89189029 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789684321.53102064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Accepted new action goal ×2 + 2.49sINFOobjective_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 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Got request to cancel active goal. ×2 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1789684320.89189029 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789684321.53102064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 90 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-17 22:31:58.500] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253119 ms (missed cycles : 4).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890078 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961830 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-09-17 22:32:00.840] [info] Accepted new action goal ×2 + 2.49sINFOobjective_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 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Got request to cancel active goal. ×2 + 2.49sINFOros2_control_node[2026-09-17 22:32:00.888] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1789684320.89189029 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789684321.53102064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-17 22:32:01.735] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526648 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553381 ms (missed cycles : 3).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510971 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.17sINFOobjective_server_nodeFound path in 1 iterations (0.00323251 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.41sINFOros2_control_node[2026-09-17 22:32:20.047] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-17 22:32:20.047] [info] Accepted new action goal ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639662 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639662 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_node[2026-09-17 22:32:20.479] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-17 22:32:20.479] [info] Accepted new action goal ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371601 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371601 ms (missed cycles : 3).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569260 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569260 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.11sINFOros2_control_node[2026-09-17 22:32:22.745] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-09-17 22:32:22.745] [info] Accepted new action goal ×2 + 3.15sINFOobjective_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 + 3.15sINFOros2_control_node[2026-09-17 22:32:22.791] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-09-17 22:32:22.791] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1789684342.79586720 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789684343.46928048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-17 22:32:23.623] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-17 22:32:23.623] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.391789 ms (missed cycles : 8). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.391789 ms (missed cycles : 8).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178498 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178498 ms (missed cycles : 2).[0m ×2 + 6.48sINFOros2_control_node[2026-09-17 22:32:26.115] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-17 22:32:26.115] [info] Accepted new action goal ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045211 ms (missed cycles : 6). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045211 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401466 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401466 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721039 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721039 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445146 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445146 ms (missed cycles : 2).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789684354.67714739 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991439 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991439 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789684355.35519171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789684355.41535139 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.39sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789684356.02769041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.52sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789684358.15783358 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789684356.02769041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789684358.15783358 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789684359.80045485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3).[0m ×2 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789684356.02769041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789684358.15783358 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789684359.80045485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3).[0m ×2 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789684356.02769041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789684358.15783358 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789684359.80045485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3).[0m ×2 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789684356.02769041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789684358.15783358 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789684359.80045485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3).[0m ×2 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789684356.02769041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789684358.15783358 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789684359.80045485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3).[0m ×2 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789684356.02769041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789684358.15783358 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789684359.80045485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3).[0m ×2 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484446 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789684356.02769041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 22:32:36.152] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973410 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492983 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789684358.15783358 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008991 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789684359.80045485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-17 22:32:40.228] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903955 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679183 ms (missed cycles : 3).[0m ×2 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005364 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 22 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233948 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233948 ms (missed cycles : 5).[0m ×2 + 0.23sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.336172 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.336172 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999706 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999706 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789684412.71225452 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOobjective_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: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789684413.31912136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.01sINFOros2_control_node[2026-09-17 22:33:33.482] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-17 22:33:33.482] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650898 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650898 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.29sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560517 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560517 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 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 2.114026 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114026 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2158 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×345 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×345 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×690 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×690 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789684479.38553095 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3).[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 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789684480.11023498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2158 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×345 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×345 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×690 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×690 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789684479.38553095 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3).[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 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789684480.11023498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2158 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×345 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×345 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×690 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×690 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789684479.38553095 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3).[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 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789684480.11023498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2158 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×345 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×345 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×690 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×690 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685163 ms (missed cycles : 2).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022346 ms (missed cycles : 2).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688788 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789684479.38553095 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045268 ms (missed cycles : 3).[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 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789684480.11023498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 22:34:40.314] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686787 ms (missed cycles : 3).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636359 ms (missed cycles : 4).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489304 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Accepted new action goal ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789684489.93039703 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4).[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789684490.97443604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Accepted new action goal ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789684489.93039703 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4).[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789684490.97443604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Accepted new action goal ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789684489.93039703 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4).[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789684490.97443604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Accepted new action goal ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789684489.93039703 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4).[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789684490.97443604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Accepted new action goal ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789684489.93039703 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4).[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789684490.97443604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Accepted new action goal ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789684489.93039703 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4).[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789684490.97443604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Accepted new action goal ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789684489.93039703 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4).[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789684490.97443604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 22:34:47.001] [info] Accepted new action goal ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.402548 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910140 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-17 22:34:48.634] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582331 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789684489.93039703 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939644 ms (missed cycles : 4).[0m ×2 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.88sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.88sINFOobjective_server_nodecaller: ×2 + 3.88sINFOobjective_server_nodetype: 0 ×2 + 3.88sINFOobjective_server_nodename: "" ×2 + 3.88sINFOobjective_server_nodeinstance_id: "" ×2 + 3.88sINFOobjective_server_node ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789684490.97443604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-17 22:34:51.159] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668434 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630614 ms (missed cycles : 4).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052708 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 2.799909 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799909 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337550 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337550 ms (missed cycles : 5).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014022 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014022 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789684501.29485989 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465044 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465044 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789684501.90242600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.59sINFOros2_control_node[2026-09-17 22:35:02.226] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-17 22:35:02.226] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784008 ms (missed cycles : 6). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784008 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850711 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850711 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512910 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512910 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347878 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347878 ms (missed cycles : 6).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602223 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602223 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789684511.82951498 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680987 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680987 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[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 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789684512.48939323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.00sINFOros2_control_node[2026-09-17 22:35:12.613] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-17 22:35:12.613] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703498 ms (missed cycles : 5). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703498 ms (missed cycles : 5).[0m ×2 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672837 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672837 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629302 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629302 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396945 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396945 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sERRORobjective_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: 1789684522.78972173 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.78sINFOobjective_server_nodecaller: ×6 + 3.78sINFOobjective_server_nodetype: 0 ×6 + 3.78sINFOobjective_server_nodename: "" ×6 + 3.78sINFOobjective_server_nodeinstance_id: "" ×6 + 3.78sINFOobjective_server_node ×6 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789684523.40721941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.89sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789684523.49735856 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.52sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789684524.09676838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789684524.12993336 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789684524.80409837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.34sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396945 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396945 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sERRORobjective_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: 1789684522.78972173 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.78sINFOobjective_server_nodecaller: ×6 + 3.78sINFOobjective_server_nodetype: 0 ×6 + 3.78sINFOobjective_server_nodename: "" ×6 + 3.78sINFOobjective_server_nodeinstance_id: "" ×6 + 3.78sINFOobjective_server_node ×6 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789684523.40721941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.89sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789684523.49735856 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.52sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789684524.09676838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789684524.12993336 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789684524.80409837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.34sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396945 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396945 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sERRORobjective_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: 1789684522.78972173 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.78sINFOobjective_server_nodecaller: ×6 + 3.78sINFOobjective_server_nodetype: 0 ×6 + 3.78sINFOobjective_server_nodename: "" ×6 + 3.78sINFOobjective_server_nodeinstance_id: "" ×6 + 3.78sINFOobjective_server_node ×6 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789684523.40721941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.89sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789684523.49735856 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.52sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789684524.09676838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789684524.12993336 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789684524.80409837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.34sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396945 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396945 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520038 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sERRORobjective_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: 1789684522.78972173 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.78sINFOobjective_server_nodecaller: ×6 + 3.78sINFOobjective_server_nodetype: 0 ×6 + 3.78sINFOobjective_server_nodename: "" ×6 + 3.78sINFOobjective_server_nodeinstance_id: "" ×6 + 3.78sINFOobjective_server_node ×6 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789684523.40721941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.89sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789684523.49735856 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.52sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789684524.09676838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789684524.12993336 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789684524.80409837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.34sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4).[0m ×2 + 1.16sINFOobjective_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 + 1.16sERRORobjective_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: 1789684522.78972173 seconds ×3 + 1.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.73sINFOobjective_server_nodecaller: ×6 + 1.73sINFOobjective_server_nodetype: 0 ×6 + 1.73sINFOobjective_server_nodename: "" ×6 + 1.73sINFOobjective_server_nodeinstance_id: "" ×6 + 1.73sINFOobjective_server_node ×6 + 1.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789684523.40721941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789684523.49735856 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789684524.09676838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789684524.12993336 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2).[0m ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.18sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789684524.80409837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.29sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237643 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237643 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4).[0m ×2 + 1.16sINFOobjective_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 + 1.16sERRORobjective_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: 1789684522.78972173 seconds ×3 + 1.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.73sINFOobjective_server_nodecaller: ×6 + 1.73sINFOobjective_server_nodetype: 0 ×6 + 1.73sINFOobjective_server_nodename: "" ×6 + 1.73sINFOobjective_server_nodeinstance_id: "" ×6 + 1.73sINFOobjective_server_node ×6 + 1.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789684523.40721941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789684523.49735856 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789684524.09676838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789684524.12993336 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2).[0m ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.18sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789684524.80409837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.29sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237643 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237643 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357156 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579146 ms (missed cycles : 4).[0m ×2 + 1.16sINFOobjective_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 + 1.16sERRORobjective_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: 1789684522.78972173 seconds ×3 + 1.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.73sINFOobjective_server_nodecaller: ×6 + 1.73sINFOobjective_server_nodetype: 0 ×6 + 1.73sINFOobjective_server_nodename: "" ×6 + 1.73sINFOobjective_server_nodeinstance_id: "" ×6 + 1.73sINFOobjective_server_node ×6 + 1.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789684523.40721941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789684523.49735856 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697351 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789684524.09676838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789684524.12993336 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705426 ms (missed cycles : 2).[0m ×2 + 3.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.18sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789684524.80409837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.29sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-17 22:35:24.918] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084990 ms (missed cycles : 4).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237643 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237643 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139976 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393573 ms (missed cycles : 6). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393573 ms (missed cycles : 6).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001358 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001358 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Canceling active goal... ×2 + 3.17sERRORobjective_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: 1789684535.29846454 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6).[0m ×2 + 3.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.71sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.71sINFOobjective_server_nodecaller: ×8 + 3.72sINFOobjective_server_nodetype: 0 ×8 + 3.72sINFOobjective_server_nodename: "" ×8 + 3.72sINFOobjective_server_nodeinstance_id: "" ×8 + 3.72sINFOobjective_server_node ×8 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684535.90141892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789684536.83154869 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.30sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789684537.43214893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.30sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.30sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789684537.43399835 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789684538.14626169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789684538.18724513 seconds ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5).[0m ×2 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.59sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789684538.78782988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139976 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393573 ms (missed cycles : 6). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393573 ms (missed cycles : 6).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001358 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001358 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-09-17 22:35:35.294] [info] Canceling active goal... ×2 + 3.17sERRORobjective_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: 1789684535.29846454 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362681 ms (missed cycles : 6).[0m ×2 + 3.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.71sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.71sINFOobjective_server_nodecaller: ×8 + 3.72sINFOobjective_server_nodetype: 0 ×8 + 3.72sINFOobjective_server_nodename: "" ×8 + 3.72sINFOobjective_server_nodeinstance_id: "" ×8 + 3.72sINFOobjective_server_node ×8 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684535.90141892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283304 ms (missed cycles : 5).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789684536.83154869 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.30sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789684537.43214893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.30sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.30sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789684537.43399835 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158559 ms (missed cycles : 5).[0m ×2 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789684538.14626169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789684538.18724513 seconds ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620471 ms (missed cycles : 5).[0m ×2 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.59sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789684538.78782988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.3s | 42 warnings · 730 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-17-22-31-02-606994-32557c03900a-7174 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357327 ms (missed cycles : 3). + 0.84sINFOros2_control_node-1process started with pid [7222] ×2 + 0.84sINFOmove_group-9process started with pid [7273] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [7274] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [7275] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [7276] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [7277] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [7278] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [7279] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [7280] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [7281] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [7282] ×2 + 0.84sINFOweb_bridge-19process started with pid [7283] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [7336] ×2 + 0.84sINFOvideo_server-21process started with pid [7337] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [7338] ×2 + 0.84sINFOweb_video_auth_proxy-23process started with pid [7341] ×2 + 0.85sINFOros2-2process started with pid [7223] ×2 + 0.85sINFOros2-3process started with pid [7224] ×2 + 0.85sINFOros2-4process started with pid [7225] ×2 + 0.85sINFOros2-5process started with pid [7226] ×2 + 0.85sINFOros2-6process started with pid [7227] ×2 + 0.85sINFOros2-7process started with pid [7228] ×2 + 0.85sINFOros2-8process started with pid [7229] ×2 + 0.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_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 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357327 ms (missed cycles : 3).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.02sINFOvideo_server2026/09/17 22:31:04 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.02sINFOvideo_server2026/09/17 22:31:04 INF configuration loaded from /tmp/moveit-webrtc-ez5m5nqx/mediamtx.yml ×2 + 1.02sINFOvideo_server2026/09/17 22:31:04 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.02sINFOvideo_server2026/09/17 22:31:04 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.28sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.52sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOmove_group[2026-09-17 22:31:04.828] [moveit_pro_license] [info] ×2 + 1.84sINFOmove_group************************************************* ×4 + 1.84sINFOmove_group* MoveIt Pro License ×2 + 1.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.05sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.05sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.05sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.05sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.07sINFOros2_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 + 2.07sINFOros2_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 + 2.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.15sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.15sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.22sINFOwaypoint_manager_node[2026-09-17 22:31:05.211] [moveit_pro_license] [info] ×2 + 2.22sINFOwaypoint_manager_node************************************************* ×4 + 2.22sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.22sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794774 ms (missed cycles : 2). + 2.29sINFOmove_group ×4 + 2.29sINFOmove_group[92mYou can start planning now![0m ×2 + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794774 ms (missed cycles : 2).[0m ×2 + 2.33sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.16sINFOobjective_server_node[2026-09-17 22:31:06.153] [moveit_pro_license] [info] ×2 + 3.16sINFOobjective_server_node************************************************* ×4 + 3.16sINFOobjective_server_node* MoveIt Pro License ×2 + 3.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.28sINFOobjective_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 + 3.28sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.30sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.30sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.41sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.41sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.18sINFOcomponent_container_mt[2026-09-17 22:31:07.171] [moveit_pro_license] [info] ×2 + 4.18sINFOcomponent_container_mt************************************************* ×4 + 4.18sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.18sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.19sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.19sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.19sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.19sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.19sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.19sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.19sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.19sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.19sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.19sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.19sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.19sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.19sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.19sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.19sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.19sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.19sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.19sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.19sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.19sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.19sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.19sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.19sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.19sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.19sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968750 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968750 ms (missed cycles : 2).[0m ×2 + 4.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.28sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.28sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.28sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.28sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.39sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 4.39sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 4.40sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.40sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.41sINFOros2_control_node[2026-09-17 22:31:07.394] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.41sINFOros2_control_node[2026-09-17 22:31:07.394] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.43sINFOros2_control_node[2026-09-17 22:31:07.422] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.43sINFOros2_control_node[2026-09-17 22:31:07.422] [info] Controller state will be published at 50 Hz. ×2 + 4.44sINFOros2_control_node[2026-09-17 22:31:07.429] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.55sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.69sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.69sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.69sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.69sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.69sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 4.69sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 4.70sINFOros2_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 + 4.70sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.70sWARNros2_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 + 4.72sINFOros2-6process has finished cleanly [pid 7227] ×2 + 4.73sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.73sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.73sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.73sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.74sINFOforce_torque_sensor_broadcasterconfigure successful + 4.74sINFOros2_control_nodeconfigure successful[0m ×2 + 4.74sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.74sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.74sINFOcontroller_managerSuccessfully switched controllers! ×14 + 4.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 4.75sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.75sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 5.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 5.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.05sINFOros2-2process has finished cleanly [pid 7223] ×2 + 5.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649542 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649542 ms (missed cycles : 4).[0m ×2 + 5.37sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.37sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.42sINFOros2-4process has finished cleanly [pid 7225] ×2 + 5.46sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 5.46sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 5.49sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.49sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.49sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.49sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.52sINFOros2_control_node[2026-09-17 22:31:08.505] [info] Controller state will be published at 20 Hz. ×2 + 5.52sINFOros2_control_node[2026-09-17 22:31:08.506] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.83sINFOros2-8process has finished cleanly [pid 7229] ×2 + 5.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.84sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.84sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.92sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 5.92sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 5.95sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.95sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.95sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.98sINFOros2_control_node[2026-09-17 22:31:08.967] [info] Controller state will be published at 10 Hz. ×2 + 5.98sINFOros2_control_node[2026-09-17 22:31:08.968] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.27sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.30sINFOros2-7process has finished cleanly [pid 7228] ×2 + 6.31sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 6.31sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 6.36sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.36sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.36sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.36sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.36sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.36sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.37sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.37sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.37sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.37sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.37sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.68sINFOros2-5process has finished cleanly [pid 7226] ×2 + 6.68sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.69sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.69sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.69sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.69sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 6.69sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 6.70sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.70sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.73sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.73sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.73sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.73sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.73sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.73sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3).[0m ×2 + 6.74sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.74sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.86sINFOobjective_server_nodecaller: ×10 + 6.86sINFOobjective_server_nodetype: 0 ×10 + 6.86sINFOobjective_server_nodename: "" ×10 + 6.86sINFOobjective_server_nodeinstance_id: "" ×10 + 6.86sINFOobjective_server_node ×10 + 6.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684269.90016079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684269.91043901 seconds ×3 + 6.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 6.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 7.07sINFOros2-3process has finished cleanly [pid 7224] ×2 + 7.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.46sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.52sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789684270.50572157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 8.27sWARNros2_control_nodeCamera render tick took 1.87 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 + 8.43sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 9.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.05sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 9.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 10.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 10.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 402 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684269.90016079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684269.91043901 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.21sINFOros2-3process has finished cleanly [pid 7224] ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789684270.50572157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 3.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 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: 1789684274.88574862 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 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.18sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 7.36sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.70sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 7.70sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 458 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOros2-5process has finished cleanly [pid 7226] ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.42sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.43sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.43sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.46sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3).[0m ×2 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.58sINFOobjective_server_nodecaller: ×14 + 0.58sINFOobjective_server_nodetype: 0 ×14 + 0.58sINFOobjective_server_nodename: "" ×14 + 0.58sINFOobjective_server_nodeinstance_id: "" ×14 + 0.58sINFOobjective_server_node ×14 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684269.90016079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684269.91043901 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.80sINFOros2-3process has finished cleanly [pid 7224] ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789684270.50572157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 2.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 4.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.76sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 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 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 182 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-17-22-31-02-606994-32557c03900a-7174 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357327 ms (missed cycles : 3). + 0.84sINFOros2_control_node-1process started with pid [7222] ×2 + 0.84sINFOmove_group-9process started with pid [7273] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [7274] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [7275] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [7276] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [7277] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [7278] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [7279] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [7280] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [7281] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [7282] ×2 + 0.84sINFOweb_bridge-19process started with pid [7283] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [7336] ×2 + 0.84sINFOvideo_server-21process started with pid [7337] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [7338] ×2 + 0.84sINFOweb_video_auth_proxy-23process started with pid [7341] ×2 + 0.85sINFOros2-2process started with pid [7223] ×2 + 0.85sINFOros2-3process started with pid [7224] ×2 + 0.85sINFOros2-4process started with pid [7225] ×2 + 0.85sINFOros2-5process started with pid [7226] ×2 + 0.85sINFOros2-6process started with pid [7227] ×2 + 0.85sINFOros2-7process started with pid [7228] ×2 + 0.85sINFOros2-8process started with pid [7229] ×2 + 0.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_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 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357327 ms (missed cycles : 3).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.02sINFOvideo_server2026/09/17 22:31:04 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.02sINFOvideo_server2026/09/17 22:31:04 INF configuration loaded from /tmp/moveit-webrtc-ez5m5nqx/mediamtx.yml ×2 + 1.02sINFOvideo_server2026/09/17 22:31:04 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.02sINFOvideo_server2026/09/17 22:31:04 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.28sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.52sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOmove_group[2026-09-17 22:31:04.828] [moveit_pro_license] [info] ×2 + 1.84sINFOmove_group************************************************* ×4 + 1.84sINFOmove_group* MoveIt Pro License ×2 + 1.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.05sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.05sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.05sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.05sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.07sINFOros2_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 + 2.07sINFOros2_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 + 2.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.15sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.15sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.22sINFOwaypoint_manager_node[2026-09-17 22:31:05.211] [moveit_pro_license] [info] ×2 + 2.22sINFOwaypoint_manager_node************************************************* ×4 + 2.22sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.22sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794774 ms (missed cycles : 2). + 2.29sINFOmove_group ×4 + 2.29sINFOmove_group[92mYou can start planning now![0m ×2 + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794774 ms (missed cycles : 2).[0m ×2 + 2.33sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.16sINFOobjective_server_node[2026-09-17 22:31:06.153] [moveit_pro_license] [info] ×2 + 3.16sINFOobjective_server_node************************************************* ×4 + 3.16sINFOobjective_server_node* MoveIt Pro License ×2 + 3.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.28sINFOobjective_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 + 3.28sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.30sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.30sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.41sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.41sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 497 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-09-17 22:31:08.505] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-17 22:31:08.506] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOros2-8process has finished cleanly [pid 7229] ×2 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.49sINFOros2_control_node[2026-09-17 22:31:08.967] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-09-17 22:31:08.968] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.78sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.81sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.87sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.87sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.88sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.88sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.88sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.88sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.19sINFOros2-5process has finished cleanly [pid 7226] ×2 + 1.20sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.20sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.20sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.20sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 1.20sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 1.21sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.24sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.24sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.24sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3).[0m ×2 + 1.25sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.25sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.37sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.37sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.37sINFOobjective_server_nodecaller: ×14 + 1.37sINFOobjective_server_nodetype: 0 ×14 + 1.37sINFOobjective_server_nodename: "" ×14 + 1.37sINFOobjective_server_nodeinstance_id: "" ×14 + 1.37sINFOobjective_server_node ×14 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684269.90016079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684269.91043901 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.58sINFOros2-3process has finished cleanly [pid 7224] ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789684270.50572157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.54sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 497 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-09-17 22:31:08.505] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-17 22:31:08.506] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOros2-8process has finished cleanly [pid 7229] ×2 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.49sINFOros2_control_node[2026-09-17 22:31:08.967] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-09-17 22:31:08.968] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.78sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.81sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.87sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.87sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.88sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.88sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.88sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.88sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.19sINFOros2-5process has finished cleanly [pid 7226] ×2 + 1.20sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.20sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.20sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.20sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 1.20sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 1.21sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.24sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.24sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.24sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3).[0m ×2 + 1.25sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.25sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.37sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.37sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.37sINFOobjective_server_nodecaller: ×14 + 1.37sINFOobjective_server_nodetype: 0 ×14 + 1.37sINFOobjective_server_nodename: "" ×14 + 1.37sINFOobjective_server_nodeinstance_id: "" ×14 + 1.37sINFOobjective_server_node ×14 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684269.90016079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684269.91043901 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.58sINFOros2-3process has finished cleanly [pid 7224] ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789684270.50572157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.54sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 497 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-09-17 22:31:08.505] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-17 22:31:08.506] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOros2-8process has finished cleanly [pid 7229] ×2 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.49sINFOros2_control_node[2026-09-17 22:31:08.967] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-09-17 22:31:08.968] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.78sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.81sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.87sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.87sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.88sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.88sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.88sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.88sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.19sINFOros2-5process has finished cleanly [pid 7226] ×2 + 1.20sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.20sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.20sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.20sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 1.20sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 1.21sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.24sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.24sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.24sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3).[0m ×2 + 1.25sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.25sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.37sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.37sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.37sINFOobjective_server_nodecaller: ×14 + 1.37sINFOobjective_server_nodetype: 0 ×14 + 1.37sINFOobjective_server_nodename: "" ×14 + 1.37sINFOobjective_server_nodeinstance_id: "" ×14 + 1.37sINFOobjective_server_node ×14 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684269.90016079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684269.91043901 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.58sINFOros2-3process has finished cleanly [pid 7224] ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789684270.50572157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 2.78sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.54sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 458 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOros2-5process has finished cleanly [pid 7226] ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 + 0.42sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_en18fzlu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s835r90g --params-file /tmp/launch_params_ndhreiy7 [0m ×2 + 0.43sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.43sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.46sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201687 ms (missed cycles : 3).[0m ×2 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.58sINFOobjective_server_nodecaller: ×14 + 0.58sINFOobjective_server_nodetype: 0 ×14 + 0.58sINFOobjective_server_nodename: "" ×14 + 0.58sINFOobjective_server_nodeinstance_id: "" ×14 + 0.58sINFOobjective_server_node ×14 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684269.90016079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684269.91043901 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.80sINFOros2-3process has finished cleanly [pid 7224] ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789684270.50572157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 2.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 4.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.76sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 386 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684269.90016079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684269.91043901 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.21sINFOros2-3process has finished cleanly [pid 7224] ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789684270.50572157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 3.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 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: 1789684274.88574862 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 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.18sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 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 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×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 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516698 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789684271.41586161 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729320 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789684272.03633237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789684272.09647942 seconds ×3 + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684272.75637412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684272.77649736 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545014 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684273.37009883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684273.52070236 seconds ×3 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684274.23179269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519920 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684274.28191042 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789684274.88574862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.1302e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 22:31:15.022] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826181 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737096 ms (missed cycles : 5).[0m ×2 + 6.26sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.775119 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-09-17 22:31:17.543] [info] Accepted new action goal ×2 | ||||