129
Total objective tests
32
Objectives passed
0
Objectives failed
97
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 161 warnings · 18981 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351731 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004765 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004765 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539707 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539707 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789703595.22990298 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_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: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.83sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.83sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.83sINFOobjective_server_nodename: "" ×4 + 2.83sINFOobjective_server_nodeinstance_id: "" ×4 + 2.83sINFOobjective_server_node ×4 + 2.85sWARNros2_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 + 2.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789703595.84563828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.05sINFOros2_control_node[2026-09-18 03:53:16.010] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-18 03:53:16.011] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201002 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201002 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_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 + 4.33sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814847 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814847 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158788 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158788 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161765 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161765 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal ×3120 + 6.50sINFOjoint_trajectory_controllerAccepted new action goal ×3120 + 6.50sINFOros2_control_nodeReceived new action goal[0m ×6240 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×6240 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812250 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812250 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673729 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673729 ms (missed cycles : 2).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011360 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011360 ms (missed cycles : 2).[0m ×2 + 10.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×4 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216311 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216311 ms (missed cycles : 2).[0m ×2 + 11.41sINFOjoint_trajectory_controllerGot request to cancel goal ×11 + 11.41sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.41sINFOros2_control_nodeGot request to cancel goal[0m ×22 + 11.41sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.41sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944017 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944017 ms (missed cycles : 2).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750989 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750989 ms (missed cycles : 2).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567171 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567171 ms (missed cycles : 3).[0m ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742623 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742623 ms (missed cycles : 2).[0m ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932835 ms (missed cycles : 4). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932835 ms (missed cycles : 4).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934174 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934174 ms (missed cycles : 2).[0m ×2 + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666743 ms (missed cycles : 2). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666743 ms (missed cycles : 2).[0m ×2 + 18.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200660 ms (missed cycles : 2). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200660 ms (missed cycles : 2).[0m ×2 + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075699 ms (missed cycles : 3). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075699 ms (missed cycles : 3).[0m ×2 + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743706 ms (missed cycles : 5). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743706 ms (missed cycles : 5).[0m ×2 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684200 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684200 ms (missed cycles : 2).[0m ×2 + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039750 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039750 ms (missed cycles : 2).[0m ×2 + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883236 ms (missed cycles : 2). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883236 ms (missed cycles : 2).[0m ×2 + 25.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218755 ms (missed cycles : 4). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218755 ms (missed cycles : 4).[0m ×2 + 26.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428571 ms (missed cycles : 3). + 26.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428571 ms (missed cycles : 3).[0m ×2 + 27.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298163 ms (missed cycles : 2). + 27.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298163 ms (missed cycles : 2).[0m ×2 + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082648 ms (missed cycles : 2). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082648 ms (missed cycles : 2).[0m ×2 + 29.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230010 ms (missed cycles : 2). + 29.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230010 ms (missed cycles : 2).[0m ×2 + 30.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254332 ms (missed cycles : 2). + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254332 ms (missed cycles : 2).[0m ×2 + 31.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948722 ms (missed cycles : 3). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948722 ms (missed cycles : 3).[0m ×2 + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777085 ms (missed cycles : 2). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777085 ms (missed cycles : 2).[0m ×2 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462793 ms (missed cycles : 4). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462793 ms (missed cycles : 4).[0m ×2 + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446158 ms (missed cycles : 2). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446158 ms (missed cycles : 2).[0m ×2 + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719482 ms (missed cycles : 2). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719482 ms (missed cycles : 2).[0m ×2 + 36.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112328 ms (missed cycles : 2). + 36.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112328 ms (missed cycles : 2).[0m ×2 + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408996 ms (missed cycles : 4). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408996 ms (missed cycles : 4).[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357431 ms (missed cycles : 2). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357431 ms (missed cycles : 2).[0m ×2 + 39.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730595 ms (missed cycles : 5). + 39.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730595 ms (missed cycles : 5).[0m ×2 + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444759 ms (missed cycles : 2). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444759 ms (missed cycles : 2).[0m ×2 + 41.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713053 ms (missed cycles : 2). + 41.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713053 ms (missed cycles : 2).[0m ×2 + 42.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715063 ms (missed cycles : 5). + 42.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715063 ms (missed cycles : 5).[0m ×2 + 43.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824953 ms (missed cycles : 2). + 43.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824953 ms (missed cycles : 2).[0m ×2 + 45.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125740 ms (missed cycles : 2). + 45.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125740 ms (missed cycles : 2).[0m ×2 + 45.13sWARNros2_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 + 46.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127294 ms (missed cycles : 2). + 46.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127294 ms (missed cycles : 2).[0m ×2 + 46.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789703639.73782468 seconds ×3 + 46.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.11sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302689 ms (missed cycles : 5). + 47.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302689 ms (missed cycles : 5).[0m ×2 + 47.32sINFOobjective_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: ""
+ 47.32sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789703640.38318968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.46sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.56sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 47.57sINFOros2_control_node[2026-09-18 03:54:00.527] [info] Received new action goal ×2 + 47.57sINFOros2_control_node[2026-09-18 03:54:00.527] [info] Accepted new action goal ×2 + 48.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219211 ms (missed cycles : 5). + 48.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219211 ms (missed cycles : 5).[0m ×2 + 49.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407957 ms (missed cycles : 2). + 49.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407957 ms (missed cycles : 2).[0m ×2 + 50.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698509 ms (missed cycles : 2). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698509 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.7s | 154 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.05sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.05sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.05sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.05sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.05sINFOobjective_server_nodecaller: ×6 + 0.05sINFOobjective_server_nodetype: 0 ×6 + 0.05sINFOobjective_server_nodename: "" ×6 + 0.05sINFOobjective_server_nodeinstance_id: "" ×6 + 0.05sINFOobjective_server_node ×6 + 0.11sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789703537.78189158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6).[0m ×2 + 2.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×6 + 2.23sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789703539.90203118 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.86sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789703541.53769135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6).[0m ×2 + 7.14sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 7.16sINFOros2_control_node[2026-09-18 03:52:24.832] [info] Received new action goal ×2 + 7.16sINFOros2_control_node[2026-09-18 03:52:24.832] [info] Accepted new action goal ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591004 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591004 ms (missed cycles : 2).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.281106 ms (missed cycles : 6). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.281106 ms (missed cycles : 6).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789293 ms (missed cycles : 4). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789293 ms (missed cycles : 4).[0m ×2 + 10.30sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793409 ms (missed cycles : 2). + 10.32sINFOros2_control_node[2026-09-18 03:52:27.993] [info] Received new action goal ×2 + 10.32sINFOros2_control_node[2026-09-18 03:52:27.993] [info] Accepted new action goal ×2 + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793409 ms (missed cycles : 2).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751871 ms (missed cycles : 4). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751871 ms (missed cycles : 4).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669448 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669448 ms (missed cycles : 2).[0m ×2 + 13.29sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 13.30sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.34sINFOros2_control_node[2026-09-18 03:52:31.018] [info] Received new action goal ×2 + 13.34sINFOros2_control_node[2026-09-18 03:52:31.018] [info] Accepted new action goal ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749154 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749154 ms (missed cycles : 2).[0m ×2 + 14.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464148 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464148 ms (missed cycles : 3).[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.247807 ms (missed cycles : 5). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.247807 ms (missed cycles : 5).[0m ×2 + 16.30sINFOobjective_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 + 16.30sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.30sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.31sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.31sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716684 ms (missed cycles : 3). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716684 ms (missed cycles : 3).[0m ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724978 ms (missed cycles : 4). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724978 ms (missed cycles : 4).[0m ×2 + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139806 ms (missed cycles : 5). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139806 ms (missed cycles : 5).[0m ×2 + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698849 ms (missed cycles : 3). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698849 ms (missed cycles : 3).[0m ×2 + 21.05sWARNros2_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 + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412775 ms (missed cycles : 4). + 21.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412775 ms (missed cycles : 4).[0m ×2 + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729116 ms (missed cycles : 3). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729116 ms (missed cycles : 3).[0m ×2 + 23.17sINFOobjective_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 + 23.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.18sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.18sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.18sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.18sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002292 ms (missed cycles : 4). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002292 ms (missed cycles : 4).[0m ×2 + 24.09sINFOros2_control_node[2026-09-18 03:52:41.769] [info] Received new action goal ×2 + 24.09sINFOros2_control_node[2026-09-18 03:52:41.769] [info] Accepted new action goal ×2 + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181643 ms (missed cycles : 2). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181643 ms (missed cycles : 2).[0m ×2 + 25.26sINFOobjective_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 + 25.27sINFOobjective_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 + 25.55sINFOobjective_server_nodeFound path in 0 iterations (5.52e-07 s). ×2 + 25.56sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.60sINFOros2_control_node[2026-09-18 03:52:43.277] [info] Received new action goal ×2 + 25.60sINFOros2_control_node[2026-09-18 03:52:43.277] [info] Accepted new action goal ×2 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373073 ms (missed cycles : 5). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373073 ms (missed cycles : 5).[0m ×2 + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576731 ms (missed cycles : 3). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576731 ms (missed cycles : 3).[0m ×2 + 27.74sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 27.74sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.75sINFOros2_control_node[2026-09-18 03:52:45.430] [info] Received new action goal ×2 + 27.75sINFOros2_control_node[2026-09-18 03:52:45.430] [info] Accepted new action goal ×2 + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.871866 ms (missed cycles : 7). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.871866 ms (missed cycles : 7).[0m ×2 + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255599 ms (missed cycles : 5). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255599 ms (missed cycles : 5).[0m ×2 + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075350 ms (missed cycles : 2). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075350 ms (missed cycles : 2).[0m ×2 + 30.75sINFOros2_control_node[2026-09-18 03:52:48.430] [info] Received new action goal ×2 + 30.75sINFOros2_control_node[2026-09-18 03:52:48.430] [info] Accepted new action goal ×2 + 31.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950193 ms (missed cycles : 2). + 31.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950193 ms (missed cycles : 2).[0m ×2 + 32.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011111 ms (missed cycles : 3). + 32.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011111 ms (missed cycles : 3).[0m ×2 + 33.26sWARNros2_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 + 33.35sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 33.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.40sINFOros2_control_node[2026-09-18 03:52:51.073] [info] Received new action goal ×2 + 33.40sINFOros2_control_node[2026-09-18 03:52:51.073] [info] Accepted new action goal ×2 + 33.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391358 ms (missed cycles : 2). + 33.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391358 ms (missed cycles : 2).[0m ×2 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340908 ms (missed cycles : 4). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340908 ms (missed cycles : 4).[0m ×2 + 35.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504414 ms (missed cycles : 4). + 35.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504414 ms (missed cycles : 4).[0m ×2 + 36.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226138 ms (missed cycles : 3). + 36.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226138 ms (missed cycles : 3).[0m ×2 + 37.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683594 ms (missed cycles : 5). + 37.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683594 ms (missed cycles : 5).[0m ×2 + 39.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636595 ms (missed cycles : 2). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636595 ms (missed cycles : 2).[0m ×2 + 40.07sWARNros2_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 ×4 + 40.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764181 ms (missed cycles : 4). + 40.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764181 ms (missed cycles : 4).[0m ×2 + 41.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747512 ms (missed cycles : 2). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747512 ms (missed cycles : 2).[0m ×2 + 42.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837262 ms (missed cycles : 4). + 42.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837262 ms (missed cycles : 4).[0m ×2 + 42.38sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284522 ms (missed cycles : 2). + 43.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284522 ms (missed cycles : 2).[0m ×2 + 44.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489562 ms (missed cycles : 5). + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489562 ms (missed cycles : 5).[0m ×2 + 44.75sINFOros2_control_node[2026-09-18 03:53:02.422] [info] Received new action goal ×2 + 44.75sINFOros2_control_node[2026-09-18 03:53:02.422] [info] Accepted new action goal ×2 + 45.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586668 ms (missed cycles : 2). + 45.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586668 ms (missed cycles : 2).[0m ×2 + 45.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789703583.58732009 seconds ×3 + 46.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.50sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.73sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789703584.40779114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744204 ms (missed cycles : 2). + 46.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744204 ms (missed cycles : 2).[0m ×2 + 47.75sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 47.77sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.79sINFOros2_control_node[2026-09-18 03:53:05.462] [info] Received new action goal ×2 + 47.79sINFOros2_control_node[2026-09-18 03:53:05.462] [info] Accepted new action goal ×2 + 47.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895753 ms (missed cycles : 2). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895753 ms (missed cycles : 2).[0m ×2 + 48.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.778295 ms (missed cycles : 5). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.778295 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 13241 info |
+ 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2174 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4348 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4348 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×2173 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824953 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824953 ms (missed cycles : 2).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125740 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125740 ms (missed cycles : 2).[0m ×2 + 1.65sWARNros2_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 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127294 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127294 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789703639.73782468 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.62sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302689 ms (missed cycles : 5). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302689 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789703640.38318968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.09sINFOros2_control_node[2026-09-18 03:54:00.527] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 03:54:00.527] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219211 ms (missed cycles : 5). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219211 ms (missed cycles : 5).[0m ×2 + 5.33sINFOobjective_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 + 5.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407957 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407957 ms (missed cycles : 2).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698509 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698509 ms (missed cycles : 2).[0m ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991287 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991287 ms (missed cycles : 2).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775174 ms (missed cycles : 2). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775174 ms (missed cycles : 2).[0m ×2 + 9.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829499 ms (missed cycles : 2). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829499 ms (missed cycles : 2).[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018126 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018126 ms (missed cycles : 2).[0m ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884821 ms (missed cycles : 2). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884821 ms (missed cycles : 2).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452367 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452367 ms (missed cycles : 2).[0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341374 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341374 ms (missed cycles : 2).[0m ×2 + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626173 ms (missed cycles : 3). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626173 ms (missed cycles : 3).[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889536 ms (missed cycles : 2). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889536 ms (missed cycles : 2).[0m ×2 + 16.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709534 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709534 ms (missed cycles : 2).[0m ×2 + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580898 ms (missed cycles : 5). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580898 ms (missed cycles : 5).[0m ×2 + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886546 ms (missed cycles : 2). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886546 ms (missed cycles : 2).[0m ×2 + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718655 ms (missed cycles : 2). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718655 ms (missed cycles : 2).[0m ×2 + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746093 ms (missed cycles : 2). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746093 ms (missed cycles : 2).[0m ×2 + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2).[0m ×2 + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3).[0m ×2 + 23.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7).[0m ×2 + 25.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789703661.86398268 seconds ×3 + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2).[0m ×2 + 26.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.05sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789703662.58615732 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 (5.71e-07 s). ×2 + 26.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.37sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Received new action goal ×2 + 26.37sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Accepted new action goal ×2 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8).[0m ×2 + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5).[0m ×2 + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2). + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 239 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.02sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.22sINFOobjective_server_nodeFound path in 1 iterations (0.00510815 s). ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103601 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103601 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.49sINFOros2_control_node[2026-09-18 03:52:02.012] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-18 03:52:02.012] [info] Accepted new action goal ×2 + 0.93sINFOros2_control_node[2026-09-18 03:52:02.444] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-09-18 03:52:02.444] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860022 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860022 ms (missed cycles : 5).[0m ×2 + 2.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925383 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925383 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_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 + 2.84sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.84sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.84sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789703524.35973096 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.55sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.55sINFOobjective_server_nodecaller: ×6 + 3.55sINFOobjective_server_nodetype: 0 ×6 + 3.55sINFOobjective_server_nodename: "" ×6 + 3.55sINFOobjective_server_nodeinstance_id: "" ×6 + 3.55sINFOobjective_server_node ×6 + 3.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789703525.18983006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471870 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471870 ms (missed cycles : 4).[0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.85sINFOros2_control_node[2026-09-18 03:52:05.373] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-18 03:52:05.373] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713376 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713376 ms (missed cycles : 2).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772377 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772377 ms (missed cycles : 2).[0m ×2 + 6.37sINFOros2_control_node[2026-09-18 03:52:07.890] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-18 03:52:07.890] [info] Accepted new action goal ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318992 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318992 ms (missed cycles : 2).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039919 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039919 ms (missed cycles : 2).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900348 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900348 ms (missed cycles : 2).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897770 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897770 ms (missed cycles : 3).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038527 ms (missed cycles : 4). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038527 ms (missed cycles : 4).[0m ×2 + 11.50sWARNros2_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 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.638516 ms (missed cycles : 7). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.638516 ms (missed cycles : 7).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400220 ms (missed cycles : 5). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400220 ms (missed cycles : 5).[0m ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427884 ms (missed cycles : 4). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427884 ms (missed cycles : 4).[0m ×2 + 14.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789703536.46123409 seconds ×3 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550963 ms (missed cycles : 4). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550963 ms (missed cycles : 4).[0m ×2 + 15.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.55sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789703537.12793732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789703537.18807554 seconds ×3 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4).[0m ×2 + 16.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.21sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789703537.78189158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.37sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 16.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.38sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Received new action goal ×2 + 16.38sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Accepted new action goal ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2).[0m ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6).[0m ×2 + 18.29sWARNros2_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 + 18.38sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789703539.90203118 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284522 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284522 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_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 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.50sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.50sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.50sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.50sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489562 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489562 ms (missed cycles : 5).[0m ×2 + 1.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.42sINFOros2_control_node[2026-09-18 03:53:02.422] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-09-18 03:53:02.422] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586668 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586668 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789703583.58732009 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sWARNros2_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 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.18sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.18sINFOobjective_server_nodecaller: ×4 + 3.18sINFOobjective_server_nodetype: 0 ×4 + 3.18sINFOobjective_server_nodename: "" ×4 + 3.18sINFOobjective_server_nodeinstance_id: "" ×4 + 3.18sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789703584.40779114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744204 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744204 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.46sINFOros2_control_node[2026-09-18 03:53:05.462] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-09-18 03:53:05.462] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895753 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895753 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.778295 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.778295 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788944 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788944 ms (missed cycles : 3).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854327 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854327 ms (missed cycles : 3).[0m ×2 + 7.96sWARNros2_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 + 8.16sINFOobjective_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 + 8.16sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.16sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.16sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.16sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380236 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380236 ms (missed cycles : 2).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759734 ms (missed cycles : 4). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759734 ms (missed cycles : 4).[0m ×2 + 10.59sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 10.61sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.62sINFOros2_control_node[2026-09-18 03:53:11.624] [info] Received new action goal ×2 + 10.62sINFOros2_control_node[2026-09-18 03:53:11.624] [info] Accepted new action goal ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694995 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694995 ms (missed cycles : 2).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351731 ms (missed cycles : 2). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351731 ms (missed cycles : 2).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004765 ms (missed cycles : 4). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004765 ms (missed cycles : 4).[0m ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539707 ms (missed cycles : 4). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539707 ms (missed cycles : 4).[0m ×2 + 14.23sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789703595.22990298 seconds ×3 + 14.78sINFOobjective_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: ""
+ 14.78sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.81sWARNros2_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 + 14.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789703595.84563828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 15.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.01sINFOros2_control_node[2026-09-18 03:53:16.010] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-09-18 03:53:16.011] [info] Accepted new action goal ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201002 ms (missed cycles : 2). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201002 ms (missed cycles : 2).[0m ×2 + 16.28sINFOobjective_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 + 16.29sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814847 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814847 ms (missed cycles : 2).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158788 ms (missed cycles : 2). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158788 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 60 warnings · 388 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2).[0m ×2 + 1.74sINFOobjective_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 + 1.75sERRORobjective_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: 1789703705.26268148 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.31sINFOobjective_server_nodecaller: ×12 + 2.31sINFOobjective_server_nodetype: 0 ×12 + 2.31sINFOobjective_server_nodename: "" ×12 + 2.31sINFOobjective_server_nodeinstance_id: "" ×12 + 2.31sINFOobjective_server_node ×12 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789703705.88576150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789703705.96592617 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789703706.57243776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_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 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789703706.60525513 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789703707.27896261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741806 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741806 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018025 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018025 ms (missed cycles : 2).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 7.20sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.20sINFOros2_control_node[2026-09-18 03:55:10.712] [info] Received new action goal ×2 + 7.20sINFOros2_control_node[2026-09-18 03:55:10.712] [info] Accepted new action goal ×2 + 7.20sINFOros2_control_node[2026-09-18 03:55:10.712] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748725 ms (missed cycles : 5). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748725 ms (missed cycles : 5).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575676 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575676 ms (missed cycles : 2).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918921 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918921 ms (missed cycles : 2).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621518 ms (missed cycles : 5). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621518 ms (missed cycles : 5).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.387725 ms (missed cycles : 8). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.387725 ms (missed cycles : 8).[0m ×2 + 12.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745620 ms (missed cycles : 5). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745620 ms (missed cycles : 5).[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713983 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713983 ms (missed cycles : 2).[0m ×2 + 14.25sINFOros2_control_node[2026-09-18 03:55:17.760] [info] Got request to cancel active goal. ×2 + 14.25sINFOros2_control_node[2026-09-18 03:55:17.760] [info] Canceling active goal... ×2 + 14.25sERRORobjective_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: 1789703717.76345944 seconds ×3 + 14.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703718.35923576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2).[0m ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4).[0m ×2 + 16.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789703719.54936314 seconds ×3 + 16.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.58sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.63sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789703720.14595675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.63sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.63sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.63sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.63sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789703720.14786124 seconds ×3 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3).[0m ×2 + 17.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.24sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789703720.81230736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789703720.84339261 seconds ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 56 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.01sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.57sINFOobjective_server_nodecaller: ×12 + 0.57sINFOobjective_server_nodetype: 0 ×12 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.86sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.64sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.68sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.18sINFOros2_control_node[2026-09-18 03:51:00.564] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-18 03:51:00.564] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556482 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556482 ms (missed cycles : 4).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988192 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988192 ms (missed cycles : 3).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206513 ms (missed cycles : 3). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206513 ms (missed cycles : 3).[0m ×2 + 9.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 9.80sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 9.83sINFOros2_control_node[2026-09-18 03:51:04.214] [info] Received new action goal ×2 + 9.83sINFOros2_control_node[2026-09-18 03:51:04.214] [info] Accepted new action goal ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570257 ms (missed cycles : 2). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570257 ms (missed cycles : 2).[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789134 ms (missed cycles : 3). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789134 ms (missed cycles : 3).[0m ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702845 ms (missed cycles : 3). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702845 ms (missed cycles : 3).[0m ×2 + 13.14sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 13.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.16sINFOros2_control_node[2026-09-18 03:51:07.544] [info] Received new action goal ×2 + 13.16sINFOros2_control_node[2026-09-18 03:51:07.544] [info] Accepted new action goal ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948618 ms (missed cycles : 5). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948618 ms (missed cycles : 5).[0m ×2 + 13.97sINFOobjective_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 + 13.98sINFOros2_control_node[2026-09-18 03:51:08.360] [info] Got request to cancel active goal. ×2 + 13.98sINFOros2_control_node[2026-09-18 03:51:08.360] [info] Canceling active goal... ×2 + 13.99sERRORobjective_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: 1789703468.37701011 seconds ×3 + 14.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263392 ms (missed cycles : 5). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263392 ms (missed cycles : 5).[0m ×2 + 14.54sINFOobjective_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: ""
+ 14.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789703468.99486423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.82sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 14.83sINFOros2_control_node[2026-09-18 03:51:09.209] [info] Received new action goal ×2 + 14.83sINFOros2_control_node[2026-09-18 03:51:09.209] [info] Accepted new action goal ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705576 ms (missed cycles : 3). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705576 ms (missed cycles : 3).[0m ×2 + 15.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092040 ms (missed cycles : 5). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092040 ms (missed cycles : 5).[0m ×2 + 17.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 17.09sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.11sINFOros2_control_node[2026-09-18 03:51:11.489] [info] Received new action goal ×2 + 17.11sINFOros2_control_node[2026-09-18 03:51:11.489] [info] Accepted new action goal ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541107 ms (missed cycles : 3). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541107 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 60 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1789703502.27106380 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789703502.90580559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497627 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497627 ms (missed cycles : 4).[0m ×2 + 6.84sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.84sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.85sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (5.27e-07 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 7.14sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (7.58e-07 s). ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.21sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 7.29sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.32sINFOobjective_server_nodeFound path in 5 iterations (0.0057016 s). ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602205 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602205 ms (missed cycles : 4).[0m ×2 + 7.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.44sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 7.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.25e-07 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.02sWARNros2_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 + 8.05sINFOros2_control_node[2026-09-18 03:51:47.973] [info] Received new action goal ×2 + 8.05sINFOros2_control_node[2026-09-18 03:51:47.973] [info] Accepted new action goal ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086153 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086153 ms (missed cycles : 3).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625207 ms (missed cycles : 3). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625207 ms (missed cycles : 3).[0m ×2 + 10.31sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345272 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345272 ms (missed cycles : 2).[0m ×2 + 10.58sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.58sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.58sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789703510.53960633 seconds ×3 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346563 ms (missed cycles : 5). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346563 ms (missed cycles : 5).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580118 ms (missed cycles : 4). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580118 ms (missed cycles : 4).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908116 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908116 ms (missed cycles : 2).[0m ×2 + 13.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.96sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.06sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789703513.98622084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.09sWARNros2_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 + 14.25sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 14.26sINFOros2_control_node[2026-09-18 03:51:54.180] [info] Received new action goal ×2 + 14.26sINFOros2_control_node[2026-09-18 03:51:54.180] [info] Accepted new action goal ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778802 ms (missed cycles : 7). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778802 ms (missed cycles : 7).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643120 ms (missed cycles : 4). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643120 ms (missed cycles : 4).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623616 ms (missed cycles : 4). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623616 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 212 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345272 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345272 ms (missed cycles : 2).[0m ×2 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789703510.53960633 seconds ×3 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346563 ms (missed cycles : 5). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346563 ms (missed cycles : 5).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580118 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580118 ms (missed cycles : 4).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908116 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908116 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789703513.98622084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.77sWARNros2_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 ×4 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.94sINFOros2_control_node[2026-09-18 03:51:54.180] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-09-18 03:51:54.180] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778802 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.778802 ms (missed cycles : 7).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643120 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643120 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623616 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623616 ms (missed cycles : 4).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.873062 ms (missed cycles : 7). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.873062 ms (missed cycles : 7).[0m ×2 + 7.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.58sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 7.87sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.88sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 5 iterations (0.00680932 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.01e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (5.16e-07 s). ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431264 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431264 ms (missed cycles : 2).[0m ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.75sINFOros2_control_node[2026-09-18 03:51:58.985] [info] Received new action goal ×2 + 8.75sINFOros2_control_node[2026-09-18 03:51:58.985] [info] Accepted new action goal ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147190 ms (missed cycles : 4). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147190 ms (missed cycles : 4).[0m ×2 + 9.82sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323488 ms (missed cycles : 4). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323488 ms (missed cycles : 4).[0m ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.29sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 11.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.32sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 11.50sINFOobjective_server_nodeFound path in 1 iterations (0.00510815 s). ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103601 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103601 ms (missed cycles : 3).[0m ×2 + 11.69sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.78sINFOros2_control_node[2026-09-18 03:52:02.012] [info] Received new action goal ×2 + 11.78sINFOros2_control_node[2026-09-18 03:52:02.012] [info] Accepted new action goal ×2 + 12.21sINFOros2_control_node[2026-09-18 03:52:02.444] [info] Received new action goal ×2 + 12.21sINFOros2_control_node[2026-09-18 03:52:02.444] [info] Accepted new action goal ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860022 ms (missed cycles : 5). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860022 ms (missed cycles : 5).[0m ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925383 ms (missed cycles : 2). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925383 ms (missed cycles : 2).[0m ×2 + 14.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.12sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.12sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.12sERRORobjective_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: 1789703524.35973096 seconds ×3 + 14.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.83sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.95sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789703525.18983006 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 5.471870 ms (missed cycles : 4). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471870 ms (missed cycles : 4).[0m ×2 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 15.14sINFOros2_control_node[2026-09-18 03:52:05.373] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-09-18 03:52:05.373] [info] Accepted new action goal ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713376 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713376 ms (missed cycles : 2).[0m ×2 + 16.75sWARNros2_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 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772377 ms (missed cycles : 2). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772377 ms (missed cycles : 2).[0m ×2 + 17.65sINFOros2_control_node[2026-09-18 03:52:07.890] [info] Received new action goal ×2 + 17.65sINFOros2_control_node[2026-09-18 03:52:07.890] [info] Accepted new action goal ×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 2.335437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335437 ms (missed cycles : 2).[0m ×2 + 0.08sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739526 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739526 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607119 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607119 ms (missed cycles : 4).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195240 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195240 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789703694.27247286 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 4.01sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×8 + 4.01sINFOobjective_server_nodecaller: ×8 + 4.01sINFOobjective_server_nodetype: 0 ×8 + 4.01sINFOobjective_server_nodename: "" ×8 + 4.01sINFOobjective_server_nodeinstance_id: "" ×8 + 4.01sINFOobjective_server_node ×8 + 4.08sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789703694.93238640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-18 03:54:55.056] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 03:54:55.056] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.972849 ms (missed cycles : 7). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.972849 ms (missed cycles : 7).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398857 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398857 ms (missed cycles : 5).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.14sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.477545 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.477545 ms (missed cycles : 6).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325149 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325149 ms (missed cycles : 4).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874420 ms (missed cycles : 4). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874420 ms (missed cycles : 4).[0m ×2 + 9.21sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415770 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415770 ms (missed cycles : 2).[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676994 ms (missed cycles : 4). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676994 ms (missed cycles : 4).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502070 ms (missed cycles : 5). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502070 ms (missed cycles : 5).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2).[0m ×2 + 12.99sWARNros2_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 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2).[0m ×2 + 14.40sINFOobjective_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 + 14.41sERRORobjective_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: 1789703705.26268148 seconds ×3 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2).[0m ×2 + 14.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 15.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789703705.88576150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789703705.96592617 seconds ×3 + 15.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.72sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789703706.57243776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.75sINFOobjective_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 + 15.75sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789703706.60525513 seconds ×3 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5).[0m ×2 + 16.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.37sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.43sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789703707.27896261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.53sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 16.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 16.54sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Received new action goal ×2 + 16.54sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Accepted new action goal ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789134 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789134 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702845 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702845 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.02sINFOros2_control_node[2026-09-18 03:51:07.544] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-09-18 03:51:07.544] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948618 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948618 ms (missed cycles : 5).[0m ×2 + 2.83sINFOobjective_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 + 2.83sINFOros2_control_node[2026-09-18 03:51:08.360] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-18 03:51:08.360] [info] Canceling active goal... ×2 + 2.85sERRORobjective_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: 1789703468.37701011 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263392 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263392 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_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: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.40sINFOobjective_server_nodecaller: ×6 + 3.40sINFOobjective_server_nodetype: 0 ×6 + 3.40sINFOobjective_server_nodename: "" ×6 + 3.40sINFOobjective_server_nodeinstance_id: "" ×6 + 3.40sINFOobjective_server_node ×6 + 3.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789703468.99486423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-18 03:51:09.209] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-18 03:51:09.209] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705576 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705576 ms (missed cycles : 3).[0m ×2 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092040 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092040 ms (missed cycles : 5).[0m ×2 + 5.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.95sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.96sINFOros2_control_node[2026-09-18 03:51:11.489] [info] Received new action goal ×2 + 5.96sINFOros2_control_node[2026-09-18 03:51:11.489] [info] Accepted new action goal ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541107 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541107 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.895373 ms (missed cycles : 6). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.895373 ms (missed cycles : 6).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753921 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753921 ms (missed cycles : 3).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726043 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726043 ms (missed cycles : 2).[0m ×2 + 10.49sWARNros2_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 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997154 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997154 ms (missed cycles : 3).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218506 ms (missed cycles : 6). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218506 ms (missed cycles : 6).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5).[0m ×2 + 13.83sERRORobjective_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: 1789703479.35543680 seconds ×3 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2).[0m ×2 + 14.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.44sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789703480.01953769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789703480.09966540 seconds ×3 + 15.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.16sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4).[0m ×2 + 15.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789703480.75745606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.41sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 15.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.43sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Received new action goal ×2 + 15.43sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Accepted new action goal ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2).[0m ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 54 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789703672.13639617 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7).[0m ×2 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789703673.44830918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959959 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959959 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268154 ms (missed cycles : 4). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268154 ms (missed cycles : 4).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305399 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305399 ms (missed cycles : 2).[0m ×2 + 9.40sWARNros2_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 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292350 ms (missed cycles : 5). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292350 ms (missed cycles : 5).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993781 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993781 ms (missed cycles : 3).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037469 ms (missed cycles : 3). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037469 ms (missed cycles : 3).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932089 ms (missed cycles : 3). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932089 ms (missed cycles : 3).[0m ×2 + 13.39sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.39sERRORobjective_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: 1789703683.75887012 seconds ×3 + 13.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.93sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789703684.36277199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375299 ms (missed cycles : 6). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375299 ms (missed cycles : 6).[0m ×2 + 14.27sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 14.29sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.30sINFOros2_control_node[2026-09-18 03:54:44.669] [info] Received new action goal ×2 + 14.30sINFOros2_control_node[2026-09-18 03:54:44.669] [info] Accepted new action goal ×2 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757017 ms (missed cycles : 4). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757017 ms (missed cycles : 4).[0m ×2 + 15.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602297 ms (missed cycles : 4). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602297 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 222 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.41sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789703490.68212748 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.73sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.26sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.26sINFOobjective_server_nodecaller: ×6 + 2.26sINFOobjective_server_nodetype: 0 ×6 + 2.26sINFOobjective_server_nodename: "" ×6 + 2.26sINFOobjective_server_nodeinstance_id: "" ×6 + 2.26sINFOobjective_server_node ×6 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789703491.31456351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789703491.39468813 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789703492.04850435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.20sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3).[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (6.34e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.56sINFOros2_control_node[2026-09-18 03:51:35.532] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-18 03:51:35.532] [info] Accepted new action goal ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.810227 ms (missed cycles : 6). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.810227 ms (missed cycles : 6).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940499 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940499 ms (missed cycles : 2).[0m ×2 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 8.91sINFOros2_control_node[2026-09-18 03:51:37.880] [info] Received new action goal ×2 + 8.91sINFOros2_control_node[2026-09-18 03:51:37.880] [info] Accepted new action goal ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.375871 ms (missed cycles : 6). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.375871 ms (missed cycles : 6).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989356 ms (missed cycles : 3). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989356 ms (missed cycles : 3).[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2).[0m ×2 + 11.26sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 11.28sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Accepted new action goal ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3).[0m ×2 + 12.81sWARNros2_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 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2).[0m ×2 + 13.28sINFOobjective_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 + 13.29sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Got request to cancel active goal. ×2 + 13.29sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Canceling active goal... ×2 + 13.30sERRORobjective_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: 1789703502.27106380 seconds ×3 + 13.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.87sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789703502.90580559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.17sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 14.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.19sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Received new action goal ×2 + 14.19sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Accepted new action goal ×2 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3).[0m ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6).[0m ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 57 warnings · 2244 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3).[0m ×2 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789703661.86398268 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.92sINFOobjective_server_nodecaller: ×4 + 3.92sINFOobjective_server_nodetype: 0 ×4 + 3.92sINFOobjective_server_nodename: "" ×4 + 3.92sINFOobjective_server_nodeinstance_id: "" ×4 + 3.92sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789703662.58615732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802098 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802098 ms (missed cycles : 2).[0m ×2 + 7.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.72sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.99sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.00sINFOobjective_server_nodeFound path in 0 iterations (1.68e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.12sINFOobjective_server_nodeFound path in 1 iterations (0.00370029 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.31sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.33sINFOros2_control_node[2026-09-18 03:54:26.896] [info] Received new action goal ×2 + 8.33sINFOros2_control_node[2026-09-18 03:54:26.896] [info] Accepted new action goal ×2 + 8.37sWARNros2_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 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660455 ms (missed cycles : 4). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660455 ms (missed cycles : 4).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168567 ms (missed cycles : 5). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168567 ms (missed cycles : 5).[0m ×2 + 10.62sINFOros2_control_node[2026-09-18 03:54:29.188] [info] Received new action goal ×2 + 10.62sINFOros2_control_node[2026-09-18 03:54:29.188] [info] Accepted new action goal ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536163 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536163 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3).[0m ×2 + 12.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.27sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Received new action goal ×2 + 12.27sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Accepted new action goal ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4).[0m ×2 + 13.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789703672.13639617 seconds ×3 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7).[0m ×2 + 14.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.50sWARNros2_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 + 14.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.79sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2).[0m ×2 + 14.88sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789703673.44830918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.07sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 15.08sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Received new action goal ×2 + 15.08sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Accepted new action goal ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2).[0m ×2 + 16.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.6s | 3 errors · 52 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218506 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218506 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5).[0m ×2 + 1.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sERRORobjective_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: 1789703479.35543680 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.56sINFOobjective_server_nodecaller: ×8 + 2.56sINFOobjective_server_nodetype: 0 ×8 + 2.56sINFOobjective_server_nodename: "" ×8 + 2.56sINFOobjective_server_nodeinstance_id: "" ×8 + 2.56sINFOobjective_server_node ×8 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789703480.01953769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789703480.09966540 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789703480.75745606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_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 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410678 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410678 ms (missed cycles : 5).[0m ×2 + 7.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.36sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541839 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541839 ms (missed cycles : 3).[0m ×2 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 1 iterations (0.00362141 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.03sINFOros2_control_node[2026-09-18 03:51:25.440] [info] Received new action goal ×2 + 8.03sINFOros2_control_node[2026-09-18 03:51:25.440] [info] Accepted new action goal ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848779 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848779 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.055644 ms (missed cycles : 7). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.055644 ms (missed cycles : 7).[0m ×2 + 10.34sINFOros2_control_node[2026-09-18 03:51:27.743] [info] Received new action goal ×2 + 10.34sINFOros2_control_node[2026-09-18 03:51:27.743] [info] Accepted new action goal ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723147 ms (missed cycles : 5). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723147 ms (missed cycles : 5).[0m ×2 + 11.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2).[0m ×2 + 11.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.98sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Received new action goal ×2 + 11.98sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Accepted new action goal ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2).[0m ×2 + 13.28sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789703490.68212748 seconds ×3 + 13.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.82sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.91sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789703491.31456351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2).[0m ×2 + 13.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789703491.39468813 seconds ×3 + 14.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.59sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.64sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789703492.04850435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 14.75sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.77sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Received new action goal ×2 + 14.77sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Accepted new action goal ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3).[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993781 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993781 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037469 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037469 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932089 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932089 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_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 + 2.42sERRORobjective_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: 1789703683.75887012 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.03sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789703684.36277199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375299 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375299 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.33sINFOros2_control_node[2026-09-18 03:54:44.669] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-09-18 03:54:44.669] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757017 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757017 ms (missed cycles : 4).[0m ×2 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602297 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602297 ms (missed cycles : 4).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340154 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340154 ms (missed cycles : 2).[0m ×2 + 7.35sINFOros2_control_node[2026-09-18 03:54:48.687] [info] Received new action goal ×2 + 7.35sINFOros2_control_node[2026-09-18 03:54:48.687] [info] Accepted new action goal ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503124 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503124 ms (missed cycles : 3).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745110 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745110 ms (missed cycles : 3).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335437 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335437 ms (missed cycles : 2).[0m ×2 + 9.59sWARNros2_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 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739526 ms (missed cycles : 4). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739526 ms (missed cycles : 4).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607119 ms (missed cycles : 4). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607119 ms (missed cycles : 4).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195240 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195240 ms (missed cycles : 3).[0m ×2 + 12.94sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789703694.27247286 seconds ×3 + 13.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.53sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.60sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789703694.93238640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.71sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 13.71sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.72sINFOros2_control_node[2026-09-18 03:54:55.056] [info] Received new action goal ×2 + 13.72sINFOros2_control_node[2026-09-18 03:54:55.056] [info] Accepted new action goal ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.972849 ms (missed cycles : 7). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.972849 ms (missed cycles : 7).[0m ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398857 ms (missed cycles : 5). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398857 ms (missed cycles : 5).[0m ×2 + 15.63sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.66sWARNros2_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 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.477545 ms (missed cycles : 6). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.477545 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.4s | 59 errors · 34 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-09-18 03:55:17.760] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-09-18 03:55:17.760] [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: 1789703717.76345944 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703718.35923576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789703719.54936314 seconds ×3 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789703720.14595675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.39sINFOobjective_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 + 2.39sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789703720.14786124 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789703720.81230736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789703720.84339261 seconds ×3 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789703721.44068742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169067 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169067 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789703721.96082473 seconds ×3 + 4.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914478 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914478 ms (missed cycles : 2).[0m ×2 + 5.03sWARNros2_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 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793210 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793210 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854117 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854117 ms (missed cycles : 3).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006434 ms (missed cycles : 4). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006434 ms (missed cycles : 4).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660442 ms (missed cycles : 5). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660442 ms (missed cycles : 5).[0m ×2 + 9.69sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.70sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.71sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.71sERRORweb_video_auth_proxy-23process has died [pid 7351, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.71sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.71sERRORweb_bridge_auth_proxy-22process has died [pid 7350, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.71sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.72sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.72sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.72sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.73sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.73sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.74sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.74sINFOvideo_server-21process has finished cleanly [pid 7349] ×2 + 9.74sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.74sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.75sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.75sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.76sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.76sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.76sINFOcontroller_managerShutdown request received.... + 9.77sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.77sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.77sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.77sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.77sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.77sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.77sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.77sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.77sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.77sINFOvideo_server2026/09/18 03:55:27 INF shutting down gracefully ×2 + 9.77sINFOvideo_server2026/09/18 03:55:27 INF [WebRTC] closing ×2 + 9.77sINFOvideo_server2026/09/18 03:55:27 INF [RTSP] closing ×2 + 9.77sINFOvideo_server2026/09/18 03:55:27 INF waiting for running hooks ×2 + 9.77sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.77sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.77sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.77sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.77sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.77sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.77sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.77sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.77sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.77sERRORmove_groupStack trace (most recent call last) in thread 7701: ×2 + 9.77sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.77sINFOcontroller_managerShutting down the controller manager. + 9.77sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.77sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.77sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.77sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.77sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.77sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.77sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.77sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.77sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.77sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.77sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.77sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.77sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.77sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 9.77sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.77sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908f386a63, in __clone ×2 + 9.77sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908f2f9aa3, in ×2 + 9.77sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f908f58bdb3, in ×2 + 9.77sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f908fcefb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.77sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f908f91d620, in rclcpp::Rate::sleep() ×2 + 9.77sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f908f85fd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.77sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f908f821087, in ×2 + 9.78sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f908f55a390, in __cxa_throw ×2 + 9.78sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f908f544a54, in std::terminate() ×2 + 9.78sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f908f55a0d9, in ×2 + 9.78sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f908f544ff4, in ×2 + 9.78sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908f2858fe, in abort ×2 + 9.78sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908f2a227d, in raise ×2 + 9.78sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908f2fbb2c, in pthread_kill ×2 + 9.78sERRORmove_groupAborted (Signal sent by tkill() 7260 0) ×2 + 9.79sERRORmove_group-9process has died [pid 7260, 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_9relwpoi --params-file /tmp/launch_params_64kerss_ --params-file /tmp/launch_params_ha1u8xos --params-file /tmp/launch_params_kxxi84kt --params-file /tmp/launch_params_fk2hkbsu --params-file /tmp/launch_params_6m2cl0lk']. ×2 + 9.97sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 9.97sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 9.98sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.77sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7348] ×2 + 10.77sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.78sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7264] ×2 + 10.79sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7263] ×2 + 10.82sINFOparameter_manager_node-10process has finished cleanly [pid 7261] ×2 + 10.83sINFOexecute_objective_bridge-17process has finished cleanly [pid 7268] ×2 + 10.83sINFOui_teleop_bridge-18process has finished cleanly [pid 7269] ×2 + 10.84sINFOwaypoint_manager_node-11process has finished cleanly [pid 7262] ×2 + 10.89sINFOobjective_server_node[0;m[2026-09-18 03:55:28.641] [moveit_pro_license] [critical] ×2 + 10.89sINFOobjective_server_node************************************************* ×4 + 10.89sINFOobjective_server_node* MoveIt Pro License ×2 + 10.89sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 10.89sINFOcomponent_container_mt-16process has finished cleanly [pid 7267] ×2 + 11.05sINFOobjective_server_node_main-14process has finished cleanly [pid 7265] ×2 + 11.05sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.93sINFOcomponent_container_mt-15process has finished cleanly [pid 7266] ×2 + 12.11sINFOweb_bridge-19process has finished cleanly [pid 7270] ×2 + 12.11sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.41sINFOros2_control_node-1process has finished cleanly [pid 7223] ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 32 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400220 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400220 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427884 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427884 ms (missed cycles : 4).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789703536.46123409 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550963 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550963 ms (missed cycles : 4).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.46sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.46sINFOobjective_server_nodecaller: ×6 + 2.46sINFOobjective_server_nodetype: 0 ×6 + 2.46sINFOobjective_server_nodename: "" ×6 + 2.46sINFOobjective_server_nodeinstance_id: "" ×6 + 2.46sINFOobjective_server_node ×6 + 2.51sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789703537.12793732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789703537.18807554 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789703537.78189158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.28sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6).[0m ×2 + 5.20sWARNros2_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 + 5.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789703539.90203118 seconds ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5).[0m ×2 + 6.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.86sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.92sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789703541.53769135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.01sINFOobjective_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 + 7.02sINFOobjective_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 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5).[0m ×2 + 7.30sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 7.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.35sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Received new action goal ×2 + 7.35sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Accepted new action goal ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.8s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.387725 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.387725 ms (missed cycles : 8).[0m ×2 + 0.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745620 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745620 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713983 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOros2_control_node[2026-09-18 03:55:17.760] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 03:55:17.760] [info] Canceling active goal... ×2 + 2.44sERRORobjective_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: 1789703717.76345944 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.98sINFOobjective_server_nodecaller: ×8 + 2.98sINFOobjective_server_nodetype: 0 ×8 + 2.98sINFOobjective_server_nodename: "" ×8 + 2.98sINFOobjective_server_nodeinstance_id: "" ×8 + 2.98sINFOobjective_server_node ×8 + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703718.35923576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2).[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789703719.54936314 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789703720.14595675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.82sINFOobjective_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 + 4.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789703720.14786124 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789703720.81230736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789703720.84339261 seconds ×3 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789703721.44068742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169067 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169067 ms (missed cycles : 2).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789703721.96082473 seconds ×3 + 6.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914478 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914478 ms (missed cycles : 2).[0m ×2 + 7.46sWARNros2_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 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 36 warnings · 678 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.07sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.07sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.07sWARNros2_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 + 0.07sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.07sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.07sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.07sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.07sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.07sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.07sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.07sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.07sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.07sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.07sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.07sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.07sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.07sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.07sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.07sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.07sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.07sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.07sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.07sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.07sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.07sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.07sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.07sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.07sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.07sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.07sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.07sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.23sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.23sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.23sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.24sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.24sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.24sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.25sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.25sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.25sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.25sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.25sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.25sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.26sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.26sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.27sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.27sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075794 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075794 ms (missed cycles : 2).[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.53sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.53sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.58sINFOros2-4process has finished cleanly [pid 7226] ×2 + 0.66sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.66sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.73sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.73sINFOros2_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 + 0.73sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.73sWARNros2_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 + 0.73sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.76sINFOros2_control_node[2026-09-18 03:50:50.719] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-09-18 03:50:50.720] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.99sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.99sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.02sINFOros2-8process has finished cleanly [pid 7230] ×2 + 1.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 1.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 1.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_node[2026-09-18 03:50:51.090] [info] Controller state will be published at 10 Hz. ×2 + 1.13sINFOros2_control_node[2026-09-18 03:50:51.091] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.47sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.47sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.47sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.47sINFOros2-7process has finished cleanly [pid 7229] ×2 + 1.47sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 1.47sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321623 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321623 ms (missed cycles : 4).[0m ×2 + 1.53sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.53sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.53sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.53sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.53sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.53sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.54sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.54sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.54sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.55sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.57sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.82sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.82sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.82sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.87sINFOros2-5process has finished cleanly [pid 7227] ×2 + 1.90sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 1.90sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 1.94sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.94sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.94sINFOros2_control_node[2026-09-18 03:50:51.900] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.94sINFOros2_control_node[2026-09-18 03:50:51.900] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.96sINFOros2_control_node[2026-09-18 03:50:51.924] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.96sINFOros2_control_node[2026-09-18 03:50:51.924] [info] Controller state will be published at 50 Hz. ×2 + 1.97sINFOros2_control_node[2026-09-18 03:50:51.928] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 2.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 2.31sINFOros2-6process has finished cleanly [pid 7228] ×2 + 2.31sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.31sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.31sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.32sINFOforce_torque_sensor_broadcasterconfigure successful + 2.32sINFOros2_control_nodeconfigure successful[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.32sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.47sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.64sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.64sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.64sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.64sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.64sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 2.64sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 2.65sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.65sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.66sINFOros2-2process has finished cleanly [pid 7224] ×2 + 2.68sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.68sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.68sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.68sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.68sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3).[0m ×2 + 2.69sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.69sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.85sINFOobjective_server_nodecaller: ×14 + 2.85sINFOobjective_server_nodetype: 0 ×14 + 2.85sINFOobjective_server_nodename: "" ×14 + 2.85sINFOobjective_server_nodeinstance_id: "" ×14 + 2.85sINFOobjective_server_node ×14 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703452.86925364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703452.87952137 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.04sINFOros2-3process has finished cleanly [pid 7225] ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789703453.47230339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 4.43sWARNros2_control_nodeCamera render tick took 1.84 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 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 6.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 7.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 7.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.28sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.28sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 7.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.05sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.06sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 8.06sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×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 10.638516 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.638516 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400220 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400220 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427884 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427884 ms (missed cycles : 4).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789703536.46123409 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550963 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550963 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 + 3.52sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789703537.12793732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789703537.18807554 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789703537.78189158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789703539.90203118 seconds ×3 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-18 03:51:27.743] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 03:51:27.743] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723147 ms (missed cycles : 5). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723147 ms (missed cycles : 5).[0m ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Accepted new action goal ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789703490.68212748 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789703491.31456351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789703491.39468813 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789703492.04850435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.43sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502070 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502070 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789703705.26268148 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.35sINFOobjective_server_nodecaller: ×6 + 3.35sINFOobjective_server_nodetype: 0 ×6 + 3.35sINFOobjective_server_nodename: "" ×6 + 3.35sINFOobjective_server_nodeinstance_id: "" ×6 + 3.35sINFOobjective_server_node ×6 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789703705.88576150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789703705.96592617 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789703706.57243776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_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 + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789703706.60525513 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789703707.27896261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.92sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741806 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741806 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713983 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713983 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_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 + 0.40sINFOros2_control_node[2026-09-18 03:55:17.760] [info] Got request to cancel active goal. ×2 + 0.40sINFOros2_control_node[2026-09-18 03:55:17.760] [info] Canceling active goal... ×2 + 0.41sERRORobjective_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: 1789703717.76345944 seconds ×3 + 0.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.95sINFOobjective_server_nodecaller: ×8 + 0.95sINFOobjective_server_nodetype: 0 ×8 + 0.95sINFOobjective_server_nodename: "" ×8 + 0.95sINFOobjective_server_nodeinstance_id: "" ×8 + 0.95sINFOobjective_server_node ×8 + 1.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703718.35923576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789703719.54936314 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789703720.14595675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.79sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.79sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.79sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789703720.14786124 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.46sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789703720.81230736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789703720.84339261 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789703721.44068742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169067 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169067 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789703721.96082473 seconds ×3 + 4.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914478 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914478 ms (missed cycles : 2).[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793210 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793210 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 30 warnings · 543 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 7229] ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321623 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321623 ms (missed cycles : 4).[0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.11sWARNobjective_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 + 0.21sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.25sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.40sINFOros2-5process has finished cleanly [pid 7227] ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.43sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.47sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2_control_node[2026-09-18 03:50:51.900] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.47sINFOros2_control_node[2026-09-18 03:50:51.900] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-09-18 03:50:51.924] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.49sINFOros2_control_node[2026-09-18 03:50:51.924] [info] Controller state will be published at 50 Hz. ×2 + 0.50sINFOros2_control_node[2026-09-18 03:50:51.928] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.80sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.81sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.84sINFOros2-6process has finished cleanly [pid 7228] ×2 + 0.84sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.86sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.17sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.17sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 1.17sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 1.19sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.19sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.20sINFOros2-2process has finished cleanly [pid 7224] ×2 + 1.21sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.21sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.21sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3).[0m ×2 + 1.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.38sINFOobjective_server_nodecaller: ×14 + 1.38sINFOobjective_server_nodetype: 0 ×14 + 1.38sINFOobjective_server_nodename: "" ×14 + 1.38sINFOobjective_server_nodeinstance_id: "" ×14 + 1.38sINFOobjective_server_node ×14 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703452.86925364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703452.87952137 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.57sINFOros2-3process has finished cleanly [pid 7225] ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789703453.47230339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 2.96sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.60sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[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 9.218506 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218506 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5).[0m ×2 + 1.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sERRORobjective_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: 1789703479.35543680 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789703480.01953769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789703480.09966540 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789703480.75745606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_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 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410678 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410678 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2).[0m ×2 + 1.74sINFOobjective_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 + 1.75sERRORobjective_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: 1789703705.26268148 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.31sINFOobjective_server_nodecaller: ×6 + 2.31sINFOobjective_server_nodetype: 0 ×6 + 2.31sINFOobjective_server_nodename: "" ×6 + 2.31sINFOobjective_server_nodeinstance_id: "" ×6 + 2.31sINFOobjective_server_node ×6 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789703705.88576150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789703705.96592617 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789703706.57243776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_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 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789703706.60525513 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789703707.27896261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741806 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741806 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018025 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018025 ms (missed cycles : 2).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745620 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745620 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713983 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713983 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_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 + 1.41sINFOros2_control_node[2026-09-18 03:55:17.760] [info] Got request to cancel active goal. ×2 + 1.41sINFOros2_control_node[2026-09-18 03:55:17.760] [info] Canceling active goal... ×2 + 1.42sERRORobjective_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: 1789703717.76345944 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.96sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.96sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.96sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.96sINFOobjective_server_nodecaller: ×8 + 1.96sINFOobjective_server_nodetype: 0 ×8 + 1.96sINFOobjective_server_nodename: "" ×8 + 1.96sINFOobjective_server_nodeinstance_id: "" ×8 + 1.96sINFOobjective_server_node ×8 + 2.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703718.35923576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789703719.54936314 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.80sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789703720.14595675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.80sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.80sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.80sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789703720.14786124 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789703720.81230736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789703720.84339261 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789703721.44068742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169067 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169067 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789703721.96082473 seconds ×3 + 5.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914478 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914478 ms (missed cycles : 2).[0m ×2 + 6.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793210 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793210 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2134 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3).[0m ×2 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789703661.86398268 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789703662.58615732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.41sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789703490.68212748 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.73sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.26sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.26sINFOobjective_server_nodecaller: ×4 + 2.26sINFOobjective_server_nodetype: 0 ×4 + 2.26sINFOobjective_server_nodename: "" ×4 + 2.26sINFOobjective_server_nodeinstance_id: "" ×4 + 2.26sINFOobjective_server_node ×4 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789703491.31456351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789703491.39468813 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789703492.04850435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.20sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3).[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789703672.13639617 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7).[0m ×2 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789703673.44830918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1789703502.27106380 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789703502.90580559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4).[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 9.218506 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218506 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5).[0m ×2 + 1.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sERRORobjective_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: 1789703479.35543680 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789703480.01953769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789703480.09966540 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789703480.75745606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | 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 9.218506 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218506 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5).[0m ×2 + 1.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sERRORobjective_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: 1789703479.35543680 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789703480.01953769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789703480.09966540 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789703480.75745606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | 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 9.218506 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218506 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5).[0m ×2 + 1.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sERRORobjective_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: 1789703479.35543680 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789703480.01953769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789703480.09966540 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789703480.75745606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_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 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410678 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410678 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 9.218506 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218506 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5).[0m ×2 + 1.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sERRORobjective_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: 1789703479.35543680 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789703480.01953769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789703480.09966540 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789703480.75745606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_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 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410678 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410678 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 9.218506 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218506 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5).[0m ×2 + 1.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sERRORobjective_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: 1789703479.35543680 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789703480.01953769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789703480.09966540 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789703480.75745606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_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 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410678 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410678 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 9.218506 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218506 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345473 ms (missed cycles : 5).[0m ×2 + 1.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sERRORobjective_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: 1789703479.35543680 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814798 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789703480.01953769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789703480.09966540 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544932 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789703480.75745606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-18 03:51:20.951] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705772 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363216 ms (missed cycles : 3).[0m ×2 + 5.46sWARNros2_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 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410678 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410678 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.41sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789703490.68212748 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.73sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.26sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.26sINFOobjective_server_nodecaller: ×4 + 2.26sINFOobjective_server_nodetype: 0 ×4 + 2.26sINFOobjective_server_nodename: "" ×4 + 2.26sINFOobjective_server_nodeinstance_id: "" ×4 + 2.26sINFOobjective_server_node ×4 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789703491.31456351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789703491.39468813 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789703492.04850435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.20sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3).[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.41sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789703490.68212748 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.73sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.26sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.26sINFOobjective_server_nodecaller: ×4 + 2.26sINFOobjective_server_nodetype: 0 ×4 + 2.26sINFOobjective_server_nodename: "" ×4 + 2.26sINFOobjective_server_nodeinstance_id: "" ×4 + 2.26sINFOobjective_server_node ×4 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789703491.31456351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789703491.39468813 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789703492.04850435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.20sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3).[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.41sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789703490.68212748 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.73sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.26sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.26sINFOobjective_server_nodecaller: ×4 + 2.26sINFOobjective_server_nodetype: 0 ×4 + 2.26sINFOobjective_server_nodename: "" ×4 + 2.26sINFOobjective_server_nodeinstance_id: "" ×4 + 2.26sINFOobjective_server_node ×4 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789703491.31456351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789703491.39468813 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789703492.04850435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.20sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3).[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571425 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.41sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 03:51:29.385] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071532 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789703490.68212748 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.73sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.26sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.26sINFOobjective_server_nodecaller: ×4 + 2.26sINFOobjective_server_nodetype: 0 ×4 + 2.26sINFOobjective_server_nodename: "" ×4 + 2.26sINFOobjective_server_nodeinstance_id: "" ×4 + 2.26sINFOobjective_server_node ×4 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789703491.31456351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735801 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789703491.39468813 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789703492.04850435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.20sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-18 03:51:32.173] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671462 ms (missed cycles : 3).[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699736 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916744 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1789703502.27106380 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789703502.90580559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1789703502.27106380 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789703502.90580559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1789703502.27106380 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789703502.90580559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1789703502.27106380 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789703502.90580559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1789703502.27106380 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789703502.90580559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1789703502.27106380 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789703502.90580559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1789703502.27106380 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789703502.90580559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1789703502.27106380 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789703502.90580559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1789703502.27106380 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789703502.90580559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690592 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-18 03:51:40.250] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629024 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013856 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 03:51:42.258] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1789703502.27106380 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.92sINFOobjective_server_nodecaller: ×2 + 2.92sINFOobjective_server_nodetype: 0 ×2 + 2.92sINFOobjective_server_nodename: "" ×2 + 2.92sINFOobjective_server_nodeinstance_id: "" ×2 + 2.92sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789703502.90580559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-18 03:51:43.159] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752790 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100290 ms (missed cycles : 6).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354316 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.02sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.22sINFOobjective_server_nodeFound path in 1 iterations (0.00510815 s). ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103601 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103601 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.49sINFOros2_control_node[2026-09-18 03:52:02.012] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-18 03:52:02.012] [info] Accepted new action goal ×2 + 0.93sINFOros2_control_node[2026-09-18 03:52:02.444] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-09-18 03:52:02.444] [info] Accepted new action goal ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860022 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860022 ms (missed cycles : 5).[0m ×2 + 2.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925383 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925383 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_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 + 2.84sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.84sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.84sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789703524.35973096 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789703525.18983006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471870 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471870 ms (missed cycles : 4).[0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.85sINFOros2_control_node[2026-09-18 03:52:05.373] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-18 03:52:05.373] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713376 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713376 ms (missed cycles : 2).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772377 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772377 ms (missed cycles : 2).[0m ×2 + 6.37sINFOros2_control_node[2026-09-18 03:52:07.890] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-18 03:52:07.890] [info] Accepted new action goal ×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 10.638516 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.638516 ms (missed cycles : 7).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400220 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400220 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427884 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427884 ms (missed cycles : 4).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789703536.46123409 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550963 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550963 ms (missed cycles : 4).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 + 3.52sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789703537.12793732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789703537.18807554 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789703537.78189158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789703539.90203118 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 5.676113 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.05sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.05sINFOobjective_server_nodecaller: ×4 + 0.05sINFOobjective_server_nodetype: 0 ×4 + 0.05sINFOobjective_server_nodename: "" ×4 + 0.05sINFOobjective_server_nodeinstance_id: "" ×4 + 0.05sINFOobjective_server_node ×4 + 0.11sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789703537.78189158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6).[0m ×2 + 2.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789703539.90203118 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.86sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789703541.53769135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6).[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 5.676113 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.05sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.05sINFOobjective_server_nodecaller: ×4 + 0.05sINFOobjective_server_nodetype: 0 ×4 + 0.05sINFOobjective_server_nodename: "" ×4 + 0.05sINFOobjective_server_nodeinstance_id: "" ×4 + 0.05sINFOobjective_server_node ×4 + 0.11sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789703537.78189158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6).[0m ×2 + 2.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789703539.90203118 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.86sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789703541.53769135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6).[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 5.676113 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.05sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.05sINFOobjective_server_nodecaller: ×4 + 0.05sINFOobjective_server_nodetype: 0 ×4 + 0.05sINFOobjective_server_nodename: "" ×4 + 0.05sINFOobjective_server_nodeinstance_id: "" ×4 + 0.05sINFOobjective_server_node ×4 + 0.11sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789703537.78189158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6).[0m ×2 + 2.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789703539.90203118 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.86sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789703541.53769135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6).[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 5.676113 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.05sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.05sINFOobjective_server_nodecaller: ×4 + 0.05sINFOobjective_server_nodetype: 0 ×4 + 0.05sINFOobjective_server_nodename: "" ×4 + 0.05sINFOobjective_server_nodeinstance_id: "" ×4 + 0.05sINFOobjective_server_node ×4 + 0.11sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789703537.78189158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6).[0m ×2 + 2.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789703539.90203118 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.86sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789703541.53769135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6).[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 5.676113 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.05sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.05sINFOobjective_server_nodecaller: ×4 + 0.05sINFOobjective_server_nodetype: 0 ×4 + 0.05sINFOobjective_server_nodename: "" ×4 + 0.05sINFOobjective_server_nodeinstance_id: "" ×4 + 0.05sINFOobjective_server_node ×4 + 0.11sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789703537.78189158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6).[0m ×2 + 2.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789703539.90203118 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.86sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789703541.53769135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6).[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 5.676113 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.05sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.05sINFOobjective_server_nodecaller: ×4 + 0.05sINFOobjective_server_nodetype: 0 ×4 + 0.05sINFOobjective_server_nodename: "" ×4 + 0.05sINFOobjective_server_nodeinstance_id: "" ×4 + 0.05sINFOobjective_server_node ×4 + 0.11sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789703537.78189158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6).[0m ×2 + 2.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789703539.90203118 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.86sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789703541.53769135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6).[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 5.676113 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676113 ms (missed cycles : 4).[0m ×2 + 0.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.05sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.05sINFOobjective_server_nodecaller: ×4 + 0.05sINFOobjective_server_nodetype: 0 ×4 + 0.05sINFOobjective_server_nodename: "" ×4 + 0.05sINFOobjective_server_nodeinstance_id: "" ×4 + 0.05sINFOobjective_server_node ×4 + 0.11sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789703537.78189158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 03:52:17.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363172 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087282 ms (missed cycles : 6).[0m ×2 + 2.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789703539.90203118 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506697 ms (missed cycles : 5).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.86sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789703541.53769135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476509 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 03:52:21.965] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509244 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.958184 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351731 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351731 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004765 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004765 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539707 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539707 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789703595.22990298 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_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: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.85sWARNros2_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 + 2.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789703595.84563828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 3.05sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.05sINFOros2_control_node[2026-09-18 03:53:16.010] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-18 03:53:16.011] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201002 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201002 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_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 + 4.33sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.40sINFOobjective_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 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814847 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814847 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158788 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158788 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 · 2134 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3).[0m ×2 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789703661.86398268 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789703662.58615732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2134 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3).[0m ×2 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789703661.86398268 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789703662.58615732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2134 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3).[0m ×2 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789703661.86398268 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789703662.58615732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2134 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158019 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531415 ms (missed cycles : 3).[0m ×2 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037733 ms (missed cycles : 7).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789703661.86398268 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754966 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789703662.58615732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 03:54:22.810] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.632799 ms (missed cycles : 8).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332190 ms (missed cycles : 5).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704551 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789703672.13639617 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7).[0m ×2 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789703673.44830918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789703672.13639617 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7).[0m ×2 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789703673.44830918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789703672.13639617 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7).[0m ×2 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789703673.44830918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789703672.13639617 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7).[0m ×2 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789703673.44830918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789703672.13639617 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7).[0m ×2 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789703673.44830918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789703672.13639617 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7).[0m ×2 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789703673.44830918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789703672.13639617 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7).[0m ×2 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789703673.44830918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924102 ms (missed cycles : 3).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-18 03:54:30.840] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649911 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789703672.13639617 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.809764 ms (missed cycles : 7).[0m ×2 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646744 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789703673.44830918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-18 03:54:33.652] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789468 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167381 ms (missed cycles : 4).[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 3.993781 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993781 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037469 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037469 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932089 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932089 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_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 + 2.42sERRORobjective_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: 1789703683.75887012 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 3.03sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789703684.36277199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375299 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375299 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.33sINFOros2_control_node[2026-09-18 03:54:44.669] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-09-18 03:54:44.669] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757017 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757017 ms (missed cycles : 4).[0m ×2 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602297 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602297 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 25 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335437 ms (missed cycles : 2).[0m ×2 + 0.08sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739526 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739526 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607119 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607119 ms (missed cycles : 4).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195240 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195240 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789703694.27247286 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.01sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.01sINFOobjective_server_nodecaller: ×2 + 4.01sINFOobjective_server_nodetype: 0 ×2 + 4.01sINFOobjective_server_nodename: "" ×2 + 4.01sINFOobjective_server_nodeinstance_id: "" ×2 + 4.01sINFOobjective_server_node ×2 + 4.08sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789703694.93238640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-18 03:54:55.056] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 03:54:55.056] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.972849 ms (missed cycles : 7). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.972849 ms (missed cycles : 7).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398857 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398857 ms (missed cycles : 5).[0m ×2 + 6.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.14sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.477545 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.477545 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502070 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502070 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789703705.26268148 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.35sINFOobjective_server_nodecaller: ×6 + 3.35sINFOobjective_server_nodetype: 0 ×6 + 3.35sINFOobjective_server_nodename: "" ×6 + 3.35sINFOobjective_server_nodeinstance_id: "" ×6 + 3.35sINFOobjective_server_node ×6 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789703705.88576150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789703705.96592617 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789703706.57243776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_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 + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789703706.60525513 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789703707.27896261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.92sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502070 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502070 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789703705.26268148 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.35sINFOobjective_server_nodecaller: ×6 + 3.35sINFOobjective_server_nodetype: 0 ×6 + 3.35sINFOobjective_server_nodename: "" ×6 + 3.35sINFOobjective_server_nodeinstance_id: "" ×6 + 3.35sINFOobjective_server_node ×6 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789703705.88576150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789703705.96592617 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789703706.57243776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_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 + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789703706.60525513 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789703707.27896261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.92sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502070 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502070 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789703705.26268148 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.35sINFOobjective_server_nodecaller: ×6 + 3.35sINFOobjective_server_nodetype: 0 ×6 + 3.35sINFOobjective_server_nodename: "" ×6 + 3.35sINFOobjective_server_nodeinstance_id: "" ×6 + 3.35sINFOobjective_server_node ×6 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789703705.88576150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789703705.96592617 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789703706.57243776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_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 + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789703706.60525513 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789703707.27896261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.92sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502070 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502070 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789703705.26268148 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.35sINFOobjective_server_nodecaller: ×6 + 3.35sINFOobjective_server_nodetype: 0 ×6 + 3.35sINFOobjective_server_nodename: "" ×6 + 3.35sINFOobjective_server_nodeinstance_id: "" ×6 + 3.35sINFOobjective_server_node ×6 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789703705.88576150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789703705.96592617 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789703706.57243776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_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 + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789703706.60525513 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789703707.27896261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.92sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2).[0m ×2 + 1.74sINFOobjective_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 + 1.75sERRORobjective_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: 1789703705.26268148 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.31sINFOobjective_server_nodecaller: ×6 + 2.31sINFOobjective_server_nodetype: 0 ×6 + 2.31sINFOobjective_server_nodename: "" ×6 + 2.31sINFOobjective_server_nodeinstance_id: "" ×6 + 2.31sINFOobjective_server_node ×6 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789703705.88576150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789703705.96592617 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789703706.57243776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_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 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789703706.60525513 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789703707.27896261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741806 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741806 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018025 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018025 ms (missed cycles : 2).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2).[0m ×2 + 1.74sINFOobjective_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 + 1.75sERRORobjective_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: 1789703705.26268148 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.31sINFOobjective_server_nodecaller: ×6 + 2.31sINFOobjective_server_nodetype: 0 ×6 + 2.31sINFOobjective_server_nodename: "" ×6 + 2.31sINFOobjective_server_nodeinstance_id: "" ×6 + 2.31sINFOobjective_server_node ×6 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789703705.88576150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789703705.96592617 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789703706.57243776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_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 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789703706.60525513 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789703707.27896261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741806 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741806 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018025 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018025 ms (missed cycles : 2).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916563 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111585 ms (missed cycles : 2).[0m ×2 + 1.74sINFOobjective_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 + 1.75sERRORobjective_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: 1789703705.26268148 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862197 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.31sINFOobjective_server_nodecaller: ×6 + 2.31sINFOobjective_server_nodetype: 0 ×6 + 2.31sINFOobjective_server_nodename: "" ×6 + 2.31sINFOobjective_server_nodeinstance_id: "" ×6 + 2.31sINFOobjective_server_node ×6 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789703705.88576150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789703705.96592617 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789703706.57243776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_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 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789703706.60525513 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789703707.27896261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:55:07.392] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.250687 ms (missed cycles : 5).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741806 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741806 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018025 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018025 ms (missed cycles : 2).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.387725 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.387725 ms (missed cycles : 8).[0m ×2 + 0.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745620 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745620 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713983 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOros2_control_node[2026-09-18 03:55:17.760] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 03:55:17.760] [info] Canceling active goal... ×2 + 2.44sERRORobjective_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: 1789703717.76345944 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.98sINFOobjective_server_nodecaller: ×6 + 2.98sINFOobjective_server_nodetype: 0 ×6 + 2.98sINFOobjective_server_nodename: "" ×6 + 2.98sINFOobjective_server_nodeinstance_id: "" ×6 + 2.98sINFOobjective_server_node ×6 + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703718.35923576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2).[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789703719.54936314 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789703720.14595675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.82sINFOobjective_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 + 4.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789703720.14786124 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789703720.81230736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789703720.84339261 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.387725 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.387725 ms (missed cycles : 8).[0m ×2 + 0.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745620 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745620 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713983 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOros2_control_node[2026-09-18 03:55:17.760] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 03:55:17.760] [info] Canceling active goal... ×2 + 2.44sERRORobjective_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: 1789703717.76345944 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.98sINFOobjective_server_nodecaller: ×6 + 2.98sINFOobjective_server_nodetype: 0 ×6 + 2.98sINFOobjective_server_nodename: "" ×6 + 2.98sINFOobjective_server_nodeinstance_id: "" ×6 + 2.98sINFOobjective_server_node ×6 + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703718.35923576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859641 ms (missed cycles : 2).[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603038 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789703719.54936314 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789703720.14595675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.82sINFOobjective_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 + 4.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789703720.14786124 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020863 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789703720.81230736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789703720.84339261 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.4s | 40 warnings · 751 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-18-03-50-45-481307-3320180fd174-7175 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142670 ms (missed cycles : 2). + 0.86sINFOros2_control_node-1process started with pid [7223] ×2 + 0.86sINFOmove_group-9process started with pid [7260] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [7261] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [7262] ×2 + 0.86sINFOmove_joint_resampler_node-12process started with pid [7263] ×2 + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [7264] ×2 + 0.86sINFOobjective_server_node_main-14process started with pid [7265] ×2 + 0.86sINFOcomponent_container_mt-15process started with pid [7266] ×2 + 0.86sINFOcomponent_container_mt-16process started with pid [7267] ×2 + 0.86sINFOexecute_objective_bridge-17process started with pid [7268] ×2 + 0.86sINFOui_teleop_bridge-18process started with pid [7269] ×2 + 0.86sINFOweb_bridge-19process started with pid [7270] ×2 + 0.86sINFOtf2_web_republisher_node-20process started with pid [7348] ×2 + 0.86sINFOvideo_server-21process started with pid [7349] ×2 + 0.86sINFOweb_bridge_auth_proxy-22process started with pid [7350] ×2 + 0.86sINFOweb_video_auth_proxy-23process started with pid [7351] ×2 + 0.86sINFOros2-2process started with pid [7224] ×2 + 0.86sINFOros2-3process started with pid [7225] ×2 + 0.86sINFOros2-4process started with pid [7226] ×2 + 0.86sINFOros2-5process started with pid [7227] ×2 + 0.86sINFOros2-6process started with pid [7228] ×2 + 0.86sINFOros2-7process started with pid [7229] ×2 + 0.86sINFOros2-8process started with pid [7230] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_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 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142670 ms (missed cycles : 2).[0m ×2 + 0.92sINFOcontroller_managerReceived robot description from topic. + 0.92sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.93sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.93sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.06sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.11sINFOvideo_server2026/09/18 03:50:46 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.11sINFOvideo_server2026/09/18 03:50:46 INF configuration loaded from /tmp/moveit-webrtc-tcgsgag6/mediamtx.yml ×2 + 1.11sINFOvideo_server2026/09/18 03:50:46 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.11sINFOvideo_server2026/09/18 03:50:46 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.58sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.91sINFOmove_group[2026-09-18 03:50:47.768] [moveit_pro_license] [info] ×2 + 1.91sINFOmove_group************************************************* ×4 + 1.91sINFOmove_group* MoveIt Pro License ×2 + 1.91sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.03sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.03sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.03sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.03sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.04sINFOros2_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 + 2.04sINFOros2_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 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740538 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740538 ms (missed cycles : 2).[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.41sINFOmove_group ×4 + 2.41sINFOmove_group[92mYou can start planning now![0m ×2 + 2.54sINFOwaypoint_manager_node[2026-09-18 03:50:48.400] [moveit_pro_license] [info] ×2 + 2.54sINFOwaypoint_manager_node************************************************* ×4 + 2.54sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.54sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.64sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.24sINFOobjective_server_node[2026-09-18 03:50:49.102] [moveit_pro_license] [info] ×2 + 3.24sINFOobjective_server_node************************************************* ×4 + 3.24sINFOobjective_server_node* MoveIt Pro License ×2 + 3.24sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.38sINFOobjective_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 + 3.38sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.39sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.42sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.42sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.05sINFOcomponent_container_mt[2026-09-18 03:50:49.912] [moveit_pro_license] [info] ×2 + 4.05sINFOcomponent_container_mt************************************************* ×4 + 4.05sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.05sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.17sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.17sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.18sWARNros2_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 + 4.18sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.18sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.18sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.18sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.18sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.18sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.18sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.18sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.18sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.18sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.18sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.18sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.18sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.18sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.18sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.18sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.18sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.18sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.18sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.18sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.18sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.18sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 4.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 4.35sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.36sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.36sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.36sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.36sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.36sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.37sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.37sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.37sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075794 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075794 ms (missed cycles : 2).[0m ×2 + 4.63sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.63sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.68sINFOros2-4process has finished cleanly [pid 7226] ×2 + 4.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 4.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 4.83sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.83sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.83sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.83sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.83sINFOros2_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 + 4.83sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.83sWARNros2_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 + 4.84sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.86sINFOros2_control_node[2026-09-18 03:50:50.719] [info] Controller state will be published at 20 Hz. ×2 + 4.86sINFOros2_control_node[2026-09-18 03:50:50.720] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.09sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.09sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.09sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.09sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.12sINFOros2-8process has finished cleanly [pid 7230] ×2 + 5.16sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 5.16sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 5.20sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.20sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.20sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.20sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.23sINFOros2_control_node[2026-09-18 03:50:51.090] [info] Controller state will be published at 10 Hz. ×2 + 5.23sINFOros2_control_node[2026-09-18 03:50:51.091] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.57sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.57sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.58sINFOros2-7process has finished cleanly [pid 7229] ×2 + 5.58sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 5.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321623 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321623 ms (missed cycles : 4).[0m ×2 + 5.64sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.64sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.64sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.64sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.64sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.64sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.64sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.64sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.64sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.64sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.65sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.65sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.65sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.65sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.65sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.65sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.68sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.92sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.92sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.97sINFOros2-5process has finished cleanly [pid 7227] ×2 + 6.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 6.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 6.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.04sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.04sINFOros2_control_node[2026-09-18 03:50:51.900] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.04sINFOros2_control_node[2026-09-18 03:50:51.900] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.06sINFOros2_control_node[2026-09-18 03:50:51.924] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.06sINFOros2_control_node[2026-09-18 03:50:51.924] [info] Controller state will be published at 50 Hz. ×2 + 6.07sINFOros2_control_node[2026-09-18 03:50:51.928] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.37sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.37sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.37sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.37sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.38sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 6.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 6.41sINFOros2-6process has finished cleanly [pid 7228] ×2 + 6.42sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.42sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.42sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.42sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.42sINFOforce_torque_sensor_broadcasterconfigure successful + 6.42sINFOros2_control_nodeconfigure successful[0m ×2 + 6.42sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.42sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.43sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.43sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.58sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.74sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.74sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.74sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.74sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.74sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 6.75sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 6.76sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.76sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.77sINFOros2-2process has finished cleanly [pid 7224] ×2 + 6.78sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.78sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.78sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.78sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.78sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3).[0m ×2 + 6.79sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.79sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.95sINFOobjective_server_nodecaller: ×10 + 6.95sINFOobjective_server_nodetype: 0 ×10 + 6.95sINFOobjective_server_nodename: "" ×10 + 6.95sINFOobjective_server_nodeinstance_id: "" ×10 + 6.95sINFOobjective_server_node ×10 + 7.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703452.86925364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703452.87952137 seconds ×3 + 7.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 7.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 7.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 7.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 7.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 7.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 7.14sINFOros2-3process has finished cleanly [pid 7225] ×2 + 7.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.56sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789703453.47230339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 8.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 8.53sWARNros2_control_nodeCamera render tick took 1.84 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 + 9.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.09sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 9.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 10.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 10.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 22 warnings · 391 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: 1789703452.86925364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703452.87952137 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 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_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 + 0.19sINFOros2-3process has finished cleanly [pid 7225] ×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: 1789703453.47230339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 1.58sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.14sINFOobjective_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: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.21sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 7.25sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 443 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7228] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.20sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.39sINFOros2-2process has finished cleanly [pid 7224] ×2 + 0.41sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.41sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.41sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.41sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3).[0m ×2 + 0.42sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.42sINFOros2[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: 1789703452.86925364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703452.87952137 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 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_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 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.77sINFOros2-3process has finished cleanly [pid 7225] ×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: 1789703453.47230339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 2.16sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.72sINFOobjective_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 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 4.06sINFOobjective_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 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 4.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.79sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.39sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.42sINFOros2_control_node[2026-09-18 03:51:00.564] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-09-18 03:51:00.564] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 188 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-18-03-50-45-481307-3320180fd174-7175 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142670 ms (missed cycles : 2). + 0.86sINFOros2_control_node-1process started with pid [7223] ×2 + 0.86sINFOmove_group-9process started with pid [7260] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [7261] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [7262] ×2 + 0.86sINFOmove_joint_resampler_node-12process started with pid [7263] ×2 + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [7264] ×2 + 0.86sINFOobjective_server_node_main-14process started with pid [7265] ×2 + 0.86sINFOcomponent_container_mt-15process started with pid [7266] ×2 + 0.86sINFOcomponent_container_mt-16process started with pid [7267] ×2 + 0.86sINFOexecute_objective_bridge-17process started with pid [7268] ×2 + 0.86sINFOui_teleop_bridge-18process started with pid [7269] ×2 + 0.86sINFOweb_bridge-19process started with pid [7270] ×2 + 0.86sINFOtf2_web_republisher_node-20process started with pid [7348] ×2 + 0.86sINFOvideo_server-21process started with pid [7349] ×2 + 0.86sINFOweb_bridge_auth_proxy-22process started with pid [7350] ×2 + 0.86sINFOweb_video_auth_proxy-23process started with pid [7351] ×2 + 0.86sINFOros2-2process started with pid [7224] ×2 + 0.86sINFOros2-3process started with pid [7225] ×2 + 0.86sINFOros2-4process started with pid [7226] ×2 + 0.86sINFOros2-5process started with pid [7227] ×2 + 0.86sINFOros2-6process started with pid [7228] ×2 + 0.86sINFOros2-7process started with pid [7229] ×2 + 0.86sINFOros2-8process started with pid [7230] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_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 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142670 ms (missed cycles : 2).[0m ×2 + 0.92sINFOcontroller_managerReceived robot description from topic. + 0.92sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.93sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.93sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.06sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.11sINFOvideo_server2026/09/18 03:50:46 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.11sINFOvideo_server2026/09/18 03:50:46 INF configuration loaded from /tmp/moveit-webrtc-tcgsgag6/mediamtx.yml ×2 + 1.11sINFOvideo_server2026/09/18 03:50:46 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.11sINFOvideo_server2026/09/18 03:50:46 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.58sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.91sINFOmove_group[2026-09-18 03:50:47.768] [moveit_pro_license] [info] ×2 + 1.91sINFOmove_group************************************************* ×4 + 1.91sINFOmove_group* MoveIt Pro License ×2 + 1.91sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.03sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.03sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.03sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.03sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.04sINFOros2_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 + 2.04sINFOros2_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 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740538 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740538 ms (missed cycles : 2).[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.41sINFOmove_group ×4 + 2.41sINFOmove_group[92mYou can start planning now![0m ×2 + 2.54sINFOwaypoint_manager_node[2026-09-18 03:50:48.400] [moveit_pro_license] [info] ×2 + 2.54sINFOwaypoint_manager_node************************************************* ×4 + 2.54sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.54sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.64sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.24sINFOobjective_server_node[2026-09-18 03:50:49.102] [moveit_pro_license] [info] ×2 + 3.24sINFOobjective_server_node************************************************* ×4 + 3.24sINFOobjective_server_node* MoveIt Pro License ×2 + 3.24sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.38sINFOobjective_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 + 3.38sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.39sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.42sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.42sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 543 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 7229] ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321623 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321623 ms (missed cycles : 4).[0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.11sWARNobjective_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 + 0.21sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.25sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.40sINFOros2-5process has finished cleanly [pid 7227] ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.43sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.47sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2_control_node[2026-09-18 03:50:51.900] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.47sINFOros2_control_node[2026-09-18 03:50:51.900] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-09-18 03:50:51.924] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.49sINFOros2_control_node[2026-09-18 03:50:51.924] [info] Controller state will be published at 50 Hz. ×2 + 0.50sINFOros2_control_node[2026-09-18 03:50:51.928] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.80sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.81sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.84sINFOros2-6process has finished cleanly [pid 7228] ×2 + 0.84sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.86sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.17sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.17sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 1.17sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 1.19sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.19sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.20sINFOros2-2process has finished cleanly [pid 7224] ×2 + 1.21sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.21sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.21sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3).[0m ×2 + 1.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.38sINFOobjective_server_nodecaller: ×14 + 1.38sINFOobjective_server_nodetype: 0 ×14 + 1.38sINFOobjective_server_nodename: "" ×14 + 1.38sINFOobjective_server_nodeinstance_id: "" ×14 + 1.38sINFOobjective_server_node ×14 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703452.86925364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703452.87952137 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.57sINFOros2-3process has finished cleanly [pid 7225] ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789703453.47230339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 2.96sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.60sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 543 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 7229] ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321623 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321623 ms (missed cycles : 4).[0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.11sWARNobjective_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 + 0.21sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.25sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.40sINFOros2-5process has finished cleanly [pid 7227] ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.43sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.47sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2_control_node[2026-09-18 03:50:51.900] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.47sINFOros2_control_node[2026-09-18 03:50:51.900] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-09-18 03:50:51.924] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.49sINFOros2_control_node[2026-09-18 03:50:51.924] [info] Controller state will be published at 50 Hz. ×2 + 0.50sINFOros2_control_node[2026-09-18 03:50:51.928] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.80sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.81sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.84sINFOros2-6process has finished cleanly [pid 7228] ×2 + 0.84sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.86sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.17sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.17sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 1.17sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 1.19sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.19sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.20sINFOros2-2process has finished cleanly [pid 7224] ×2 + 1.21sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.21sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.21sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3).[0m ×2 + 1.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.38sINFOobjective_server_nodecaller: ×14 + 1.38sINFOobjective_server_nodetype: 0 ×14 + 1.38sINFOobjective_server_nodename: "" ×14 + 1.38sINFOobjective_server_nodeinstance_id: "" ×14 + 1.38sINFOobjective_server_node ×14 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703452.86925364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703452.87952137 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.57sINFOros2-3process has finished cleanly [pid 7225] ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789703453.47230339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 2.96sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.60sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 543 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 7229] ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321623 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321623 ms (missed cycles : 4).[0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.11sWARNobjective_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 + 0.21sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.25sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.40sINFOros2-5process has finished cleanly [pid 7227] ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.43sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.47sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2_control_node[2026-09-18 03:50:51.900] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.47sINFOros2_control_node[2026-09-18 03:50:51.900] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-09-18 03:50:51.924] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.49sINFOros2_control_node[2026-09-18 03:50:51.924] [info] Controller state will be published at 50 Hz. ×2 + 0.50sINFOros2_control_node[2026-09-18 03:50:51.928] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.80sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.81sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.84sINFOros2-6process has finished cleanly [pid 7228] ×2 + 0.84sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.86sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.01sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.17sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.17sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 1.17sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 1.19sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.19sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.20sINFOros2-2process has finished cleanly [pid 7224] ×2 + 1.21sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.21sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.21sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3).[0m ×2 + 1.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.38sINFOobjective_server_nodecaller: ×14 + 1.38sINFOobjective_server_nodetype: 0 ×14 + 1.38sINFOobjective_server_nodename: "" ×14 + 1.38sINFOobjective_server_nodeinstance_id: "" ×14 + 1.38sINFOobjective_server_node ×14 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703452.86925364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703452.87952137 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.57sINFOros2-3process has finished cleanly [pid 7225] ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789703453.47230339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 2.96sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.60sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 443 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7228] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.20sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_uu8zqt9d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p9db8jgm --params-file /tmp/launch_params_bndhh0_a [0m ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.39sINFOros2-2process has finished cleanly [pid 7224] ×2 + 0.41sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.41sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.41sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.41sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208585 ms (missed cycles : 3).[0m ×2 + 0.42sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.42sINFOros2[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: 1789703452.86925364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703452.87952137 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 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_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 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.77sINFOros2-3process has finished cleanly [pid 7225] ×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: 1789703453.47230339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 2.16sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.72sINFOobjective_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 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 4.06sINFOobjective_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 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 4.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.79sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 383 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: 1789703452.86925364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703452.87952137 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 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_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 + 0.19sINFOros2-3process has finished cleanly [pid 7225] ×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: 1789703453.47230339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 1.58sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.14sINFOobjective_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: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.21sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/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 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.39sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.42sINFOros2_control_node[2026-09-18 03:51:00.564] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-09-18 03:51:00.564] [info] Accepted new action goal ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556482 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556482 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.39sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375044 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789703454.38253856 seconds ×3 + 0.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789703455.00772262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789703455.06788373 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052183 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703455.73515892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703455.75529170 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094425 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703456.35716200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703456.50773787 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703457.22572041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703457.27585244 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440569 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789703457.88949609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.3587e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-18 03:50:58.026] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449557 ms (missed cycles : 5).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.416387 ms (missed cycles : 5).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||