MoveIt Pro Objective Integration Tests

129

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

8.9s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives

28 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 · 18702 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526439 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526439 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762999 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762999 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.912450 ms (missed cycles : 6). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.912450 ms (missed cycles : 6).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789737012.54889560 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.583983 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.583983 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.61sWARNros2_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 + 3.64sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789737013.16645479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.81sINFOros2_control_node[2026-09-18 13:10:13.330] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-18 13:10:13.330] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758905 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758905 ms (missed cycles : 4).[0m ×2 + 5.07sINFOobjective_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 + 5.08sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704594 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704594 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775702 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775702 ms (missed cycles : 2).[0m ×2 + 7.34sINFOjoint_trajectory_controllerReceived new action goal ×3073 + 7.34sINFOjoint_trajectory_controllerAccepted new action goal ×3073 + 7.34sINFOros2_control_nodeReceived new action goal[0m ×6146 + 7.35sINFOros2_control_nodeAccepted new action goal[0m ×6146 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183318 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183318 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811130 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811130 ms (missed cycles : 2).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695787 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695787 ms (missed cycles : 2).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714869 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714869 ms (missed cycles : 2).[0m ×2 + 10.84sWARNros2_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 ×6 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821509 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821509 ms (missed cycles : 2).[0m ×2 + 12.18sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.18sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.18sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.18sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599131 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599131 ms (missed cycles : 2).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047587 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047587 ms (missed cycles : 2).[0m ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888725 ms (missed cycles : 2). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888725 ms (missed cycles : 2).[0m ×2 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059622 ms (missed cycles : 2). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059622 ms (missed cycles : 2).[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439816 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439816 ms (missed cycles : 2).[0m ×2 + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483386 ms (missed cycles : 2). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483386 ms (missed cycles : 2).[0m ×2 + 18.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238604 ms (missed cycles : 2). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238604 ms (missed cycles : 2).[0m ×2 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090484 ms (missed cycles : 2). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090484 ms (missed cycles : 2).[0m ×2 + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637477 ms (missed cycles : 2). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637477 ms (missed cycles : 2).[0m ×2 + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972455 ms (missed cycles : 2). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972455 ms (missed cycles : 2).[0m ×2 + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724793 ms (missed cycles : 2). + 23.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724793 ms (missed cycles : 2).[0m ×2 + 24.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089111 ms (missed cycles : 3). + 24.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089111 ms (missed cycles : 3).[0m ×2 + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683214 ms (missed cycles : 2). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683214 ms (missed cycles : 2).[0m ×2 + 26.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665657 ms (missed cycles : 2). + 26.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665657 ms (missed cycles : 2).[0m ×2 + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179296 ms (missed cycles : 2). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179296 ms (missed cycles : 2).[0m ×2 + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866639 ms (missed cycles : 2). + 28.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866639 ms (missed cycles : 2).[0m ×2 + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392148 ms (missed cycles : 2). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392148 ms (missed cycles : 2).[0m ×2 + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790986 ms (missed cycles : 2). + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790986 ms (missed cycles : 2).[0m ×2 + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021188 ms (missed cycles : 2). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021188 ms (missed cycles : 2).[0m ×2 + 32.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049735 ms (missed cycles : 2). + 32.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049735 ms (missed cycles : 2).[0m ×2 + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.054751 ms (missed cycles : 5). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.054751 ms (missed cycles : 5).[0m ×2 + 33.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 34.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380470 ms (missed cycles : 2). + 34.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380470 ms (missed cycles : 2).[0m ×2 + 35.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585778 ms (missed cycles : 2). + 35.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585778 ms (missed cycles : 2).[0m ×2 + 36.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129607 ms (missed cycles : 2). + 36.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129607 ms (missed cycles : 2).[0m ×2 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663362 ms (missed cycles : 3). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663362 ms (missed cycles : 3).[0m ×2 + 38.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903628 ms (missed cycles : 3). + 38.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903628 ms (missed cycles : 3).[0m ×2 + 39.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 39.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 39.99sWARNros2_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 + 40.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822791 ms (missed cycles : 2). + 40.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822791 ms (missed cycles : 2).[0m ×2 + 41.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916288 ms (missed cycles : 2). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916288 ms (missed cycles : 2).[0m ×2 + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246875 ms (missed cycles : 2). + 42.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246875 ms (missed cycles : 2).[0m ×2 + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320208 ms (missed cycles : 2). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320208 ms (missed cycles : 2).[0m ×2 + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634177 ms (missed cycles : 3). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634177 ms (missed cycles : 3).[0m ×2 + 45.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668590 ms (missed cycles : 2). + 45.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668590 ms (missed cycles : 2).[0m ×2 + 46.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702768 ms (missed cycles : 2). + 46.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702768 ms (missed cycles : 2).[0m ×2 + 47.53sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737057.05120277 seconds ×3 + 47.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.07sINFOobjective_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: "" + 48.07sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.07sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789737057.69299221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.386445 ms (missed cycles : 6). + 48.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.386445 ms (missed cycles : 6).[0m ×2 + 48.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 48.34sINFOros2_control_node[2026-09-18 13:10:57.857] [info] Received new action goal ×2 + 48.34sINFOros2_control_node[2026-09-18 13:10:57.857] [info] Accepted new action goal ×2 + 49.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887938 ms (missed cycles : 2). + 49.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887938 ms (missed cycles : 2).[0m ×2 + 50.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724202 ms (missed cycles : 2). + 50.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724202 ms (missed cycles : 2).[0m ×2
✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.1s	151 warnings · 342 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789736955.65668201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5).[0m ×2 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789736957.79683447 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7).[0m ×2 + 2.41sWARNros2_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 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789736959.43728375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2).[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 7.11sINFOros2_control_node[2026-09-18 13:09:22.712] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-09-18 13:09:22.712] [info] Accepted new action goal ×2 + 7.42sWARNros2_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 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946552 ms (missed cycles : 2). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946552 ms (missed cycles : 2).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060800 ms (missed cycles : 3). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060800 ms (missed cycles : 3).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456530 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456530 ms (missed cycles : 3).[0m ×2 + 10.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.29sINFOros2_control_node[2026-09-18 13:09:25.892] [info] Received new action goal ×2 + 10.29sINFOros2_control_node[2026-09-18 13:09:25.892] [info] Accepted new action goal ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953057 ms (missed cycles : 5). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953057 ms (missed cycles : 5).[0m ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810209 ms (missed cycles : 2). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810209 ms (missed cycles : 2).[0m ×2 + 13.26sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 13.27sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.31sINFOros2_control_node[2026-09-18 13:09:28.915] [info] Received new action goal ×2 + 13.31sINFOros2_control_node[2026-09-18 13:09:28.915] [info] Accepted new action goal ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.543255 ms (missed cycles : 8). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.543255 ms (missed cycles : 8).[0m ×2 + 13.47sWARNros2_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 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786948 ms (missed cycles : 5). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786948 ms (missed cycles : 5).[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792031 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792031 ms (missed cycles : 2).[0m ×2 + 16.28sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.28sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.28sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.28sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.28sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442892 ms (missed cycles : 3). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442892 ms (missed cycles : 3).[0m ×2 + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191468 ms (missed cycles : 3). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191468 ms (missed cycles : 3).[0m ×2 + 19.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624645 ms (missed cycles : 2). + 19.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624645 ms (missed cycles : 2).[0m ×2 + 19.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796803 ms (missed cycles : 4). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796803 ms (missed cycles : 4).[0m ×2 + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999711 ms (missed cycles : 5). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999711 ms (missed cycles : 5).[0m ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429180 ms (missed cycles : 6). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429180 ms (missed cycles : 6).[0m ×2 + 23.09sINFOobjective_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 + 23.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.09sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.09sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.09sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.09sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377136 ms (missed cycles : 4). + 23.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377136 ms (missed cycles : 4).[0m ×2 + 24.00sINFOros2_control_node[2026-09-18 13:09:39.605] [info] Received new action goal ×2 + 24.00sINFOros2_control_node[2026-09-18 13:09:39.605] [info] Accepted new action goal ×2 + 24.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201474 ms (missed cycles : 5). + 24.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201474 ms (missed cycles : 5).[0m ×2 + 25.17sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.18sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186536 ms (missed cycles : 4). + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186536 ms (missed cycles : 4).[0m ×2 + 25.46sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 25.46sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.51sINFOros2_control_node[2026-09-18 13:09:41.109] [info] Received new action goal ×2 + 25.51sINFOros2_control_node[2026-09-18 13:09:41.109] [info] Accepted new action goal ×2 + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714021 ms (missed cycles : 3). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714021 ms (missed cycles : 3).[0m ×2 + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957234 ms (missed cycles : 2). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957234 ms (missed cycles : 2).[0m ×2 + 27.65sINFOobjective_server_nodeFound path in 0 iterations (6.7e-07 s). ×2 + 27.65sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.66sINFOros2_control_node[2026-09-18 13:09:43.265] [info] Received new action goal ×2 + 27.66sINFOros2_control_node[2026-09-18 13:09:43.265] [info] Accepted new action goal ×2 + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940067 ms (missed cycles : 2). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940067 ms (missed cycles : 2).[0m ×2 + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.984412 ms (missed cycles : 5). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.984412 ms (missed cycles : 5).[0m ×2 + 30.68sINFOros2_control_node[2026-09-18 13:09:46.285] [info] Received new action goal ×2 + 30.68sINFOros2_control_node[2026-09-18 13:09:46.285] [info] Accepted new action goal ×2 + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047761 ms (missed cycles : 2). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047761 ms (missed cycles : 2).[0m ×2 + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807991 ms (missed cycles : 3). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807991 ms (missed cycles : 3).[0m ×2 + 32.61sWARNros2_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 ×4 + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.312195 ms (missed cycles : 6). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.312195 ms (missed cycles : 6).[0m ×2 + 33.28sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 33.29sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.34sINFOros2_control_node[2026-09-18 13:09:48.938] [info] Received new action goal ×2 + 33.34sINFOros2_control_node[2026-09-18 13:09:48.938] [info] Accepted new action goal ×2 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.737348 ms (missed cycles : 7). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.737348 ms (missed cycles : 7).[0m ×2 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659394 ms (missed cycles : 3). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659394 ms (missed cycles : 3).[0m ×2 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280229 ms (missed cycles : 2). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280229 ms (missed cycles : 2).[0m ×2 + 37.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926778 ms (missed cycles : 2). + 37.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926778 ms (missed cycles : 2).[0m ×2 + 38.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461647 ms (missed cycles : 4). + 38.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.461647 ms (missed cycles : 4).[0m ×2 + 39.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476707 ms (missed cycles : 4). + 39.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476707 ms (missed cycles : 4).[0m ×2 + 40.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077959 ms (missed cycles : 2). + 40.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077959 ms (missed cycles : 2).[0m ×2 + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981834 ms (missed cycles : 3). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981834 ms (missed cycles : 3).[0m ×2 + 41.99sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071880 ms (missed cycles : 4). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071880 ms (missed cycles : 4).[0m ×2 + 43.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818643 ms (missed cycles : 2). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818643 ms (missed cycles : 2).[0m ×2 + 44.14sINFOros2_control_node[2026-09-18 13:09:59.741] [info] Received new action goal ×2 + 44.14sINFOros2_control_node[2026-09-18 13:09:59.741] [info] Accepted new action goal ×2 + 44.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513893 ms (missed cycles : 3). + 44.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513893 ms (missed cycles : 3).[0m ×2 + 45.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789737000.89740181 seconds ×3 + 45.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Push Button" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 45.90sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.10sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789737001.70369577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317548 ms (missed cycles : 4). + 46.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317548 ms (missed cycles : 4).[0m ×2 + 47.13sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 47.15sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.17sINFOros2_control_node[2026-09-18 13:10:02.768] [info] Received new action goal ×2 + 47.17sINFOros2_control_node[2026-09-18 13:10:02.768] [info] Accepted new action goal ×2 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639851 ms (missed cycles : 2). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639851 ms (missed cycles : 2).[0m ×2 + 48.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638508 ms (missed cycles : 5). + 48.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638508 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	91 warnings · 13220 info
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4342 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×2170 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×2170 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×4340 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634177 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634177 ms (missed cycles : 3).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668590 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668590 ms (missed cycles : 2).[0m ×2 + 2.70sWARNros2_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 ×4 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702768 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702768 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737057.05120277 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 + 3.32sINFOros2_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 + 3.84sINFOobjective_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: "" + 3.84sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.85sINFOobjective_server_nodecaller: ×4 + 3.85sINFOobjective_server_nodetype: 0 ×4 + 3.85sINFOobjective_server_nodename: "" ×4 + 3.85sINFOobjective_server_nodeinstance_id: "" ×4 + 3.85sINFOobjective_server_node ×4 + 3.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789737057.69299221 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.386445 ms (missed cycles : 6). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.386445 ms (missed cycles : 6).[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.11sINFOros2_control_node[2026-09-18 13:10:57.857] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-18 13:10:57.857] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887938 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887938 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.42sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724202 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724202 ms (missed cycles : 2).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416634 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416634 ms (missed cycles : 2).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382505 ms (missed cycles : 2). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382505 ms (missed cycles : 2).[0m ×2 + 8.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100522 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100522 ms (missed cycles : 2).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836742 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836742 ms (missed cycles : 2).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604974 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604974 ms (missed cycles : 2).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023306 ms (missed cycles : 2). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023306 ms (missed cycles : 2).[0m ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431023 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431023 ms (missed cycles : 2).[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722754 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722754 ms (missed cycles : 2).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139534 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139534 ms (missed cycles : 2).[0m ×2 + 15.72sWARNros2_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 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657325 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657325 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235547 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235547 ms (missed cycles : 2).[0m ×2 + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975728 ms (missed cycles : 2). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975728 ms (missed cycles : 2).[0m ×2 + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938632 ms (missed cycles : 2). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938632 ms (missed cycles : 2).[0m ×2 + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744858 ms (missed cycles : 2). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744858 ms (missed cycles : 2).[0m ×2 + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751986 ms (missed cycles : 2). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751986 ms (missed cycles : 2).[0m ×2 + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4).[0m ×2 + 24.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2). + 24.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2).[0m ×2 + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2).[0m ×2 + 25.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737079.19431686 seconds ×3 + 26.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2). + 26.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2).[0m ×2 + 26.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 26.07sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737079.91646743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.37sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 26.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.37sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Received new action goal ×2 + 26.37sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Accepted new action goal ×2 + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2).[0m ×2 + 28.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2).[0m ×2 + 28.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.9s	3 errors · 62 warnings · 234 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879813 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879813 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (1.94e-07 s). ×2 + 0.61sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.74sINFOobjective_server_nodeFound path in 1 iterations (0.00331527 s). ×2 + 0.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.98sINFOros2_control_node[2026-09-18 13:09:00.748] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-09-18 13:09:00.748] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774447 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774447 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_node[2026-09-18 13:09:01.180] [info] Received new action goal ×2 + 1.41sINFOros2_control_node[2026-09-18 13:09:01.180] [info] Accepted new action goal ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376644 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376644 ms (missed cycles : 4).[0m ×2 + 2.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOros2_control_node[2026-09-18 13:09:02.392] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-09-18 13:09:02.392] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1789736942.40114617 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.17sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.17sINFOobjective_server_nodecaller: ×6 + 3.17sINFOobjective_server_nodetype: 0 ×6 + 3.17sINFOobjective_server_nodename: "" ×6 + 3.17sINFOobjective_server_nodeinstance_id: "" ×6 + 3.17sINFOobjective_server_node ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841580 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841580 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789736943.04982042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.47sINFOros2_control_node[2026-09-18 13:09:03.234] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-18 13:09:03.234] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.770608 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.770608 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789980 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789980 ms (missed cycles : 3).[0m ×2 + 5.98sINFOros2_control_node[2026-09-18 13:09:05.750] [info] Received new action goal ×2 + 5.98sINFOros2_control_node[2026-09-18 13:09:05.750] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938772 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938772 ms (missed cycles : 3).[0m ×2 + 6.52sWARNros2_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 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986726 ms (missed cycles : 5). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986726 ms (missed cycles : 5).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890178 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890178 ms (missed cycles : 3).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436199 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436199 ms (missed cycles : 4).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249612 ms (missed cycles : 3). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249612 ms (missed cycles : 3).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501807 ms (missed cycles : 5). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501807 ms (missed cycles : 5).[0m ×2 + 12.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058369 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058369 ms (missed cycles : 3).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421419 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421419 ms (missed cycles : 2).[0m ×2 + 14.54sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789736954.31231737 seconds ×3 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414333 ms (missed cycles : 4). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414333 ms (missed cycles : 4).[0m ×2 + 15.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.16sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.21sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789736954.98035502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.26sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.26sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.29sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789736955.06049991 seconds ×3 + 15.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.84sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.89sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789736955.65668201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5).[0m ×2 + 16.01sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 16.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.02sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Received new action goal ×2 + 16.02sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Accepted new action goal ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4).[0m ×2 + 18.03sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789736957.79683447 seconds ×3 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7).[0m ×2 + 18.25sWARNros2_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	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 6.071880 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071880 ms (missed cycles : 4).[0m ×2 + 0.23sINFOobjective_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 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.23sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.23sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.23sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.23sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818643 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818643 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.20sINFOros2_control_node[2026-09-18 13:09:59.741] [info] Received new action goal ×2 + 1.20sINFOros2_control_node[2026-09-18 13:09:59.741] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513893 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513893 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789737000.89740181 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.66sWARNros2_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 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Push Button" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Push Button" ×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 + 3.16sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789737001.70369577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317548 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317548 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.23sINFOros2_control_node[2026-09-18 13:10:02.768] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 13:10:02.768] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639851 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639851 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638508 ms (missed cycles : 5). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638508 ms (missed cycles : 5).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649893 ms (missed cycles : 4). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649893 ms (missed cycles : 4).[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526181 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526181 ms (missed cycles : 2).[0m ×2 + 7.92sINFOobjective_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 + 7.92sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.92sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.93sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.93sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655680 ms (missed cycles : 5). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655680 ms (missed cycles : 5).[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159983 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159983 ms (missed cycles : 2).[0m ×2 + 10.37sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 10.39sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.40sINFOros2_control_node[2026-09-18 13:10:08.944] [info] Received new action goal ×2 + 10.40sINFOros2_control_node[2026-09-18 13:10:08.944] [info] Accepted new action goal ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526439 ms (missed cycles : 5). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526439 ms (missed cycles : 5).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762999 ms (missed cycles : 4). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762999 ms (missed cycles : 4).[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.912450 ms (missed cycles : 6). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.912450 ms (missed cycles : 6).[0m ×2 + 14.01sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789737012.54889560 seconds ×3 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.583983 ms (missed cycles : 5). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.583983 ms (missed cycles : 5).[0m ×2 + 14.56sINFOobjective_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: "" + 14.56sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.59sWARNros2_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 + 14.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789737013.16645479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 14.77sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.79sINFOros2_control_node[2026-09-18 13:10:13.330] [info] Received new action goal ×2 + 14.79sINFOros2_control_node[2026-09-18 13:10:13.330] [info] Accepted new action goal ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758905 ms (missed cycles : 4). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758905 ms (missed cycles : 4).[0m ×2 + 16.05sINFOobjective_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 + 16.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704594 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704594 ms (missed cycles : 2).[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775702 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775702 ms (missed cycles : 2).[0m ×2
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	11.2s	3 errors · 59 warnings · 426 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.67sINFOobjective_server_nodecaller: ×12 + 0.67sINFOobjective_server_nodetype: 0 ×12 + 0.67sINFOobjective_server_nodename: "" ×12 + 0.67sINFOobjective_server_nodeinstance_id: "" ×12 + 0.67sINFOobjective_server_node ×12 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_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 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.27sINFOros2_control_node[2026-09-18 13:07:58.004] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-18 13:07:58.004] [info] Accepted new action goal ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774119 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774119 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771413 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771413 ms (missed cycles : 3).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.567610 ms (missed cycles : 6). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.567610 ms (missed cycles : 6).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988965 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988965 ms (missed cycles : 2).[0m ×2 + 9.89sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 9.91sINFOros2_control_node[2026-09-18 13:08:01.641] [info] Received new action goal ×2 + 9.91sINFOros2_control_node[2026-09-18 13:08:01.641] [info] Accepted new action goal ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837422 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837422 ms (missed cycles : 2).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967567 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967567 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070774 ms (missed cycles : 4). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070774 ms (missed cycles : 4).[0m ×2 + 13.23sINFOobjective_server_nodeFound path in 0 iterations (6.36e-07 s). ×2 + 13.24sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.25sINFOros2_control_node[2026-09-18 13:08:04.982] [info] Received new action goal ×2 + 13.25sINFOros2_control_node[2026-09-18 13:08:04.982] [info] Accepted new action goal ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203676 ms (missed cycles : 5). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203676 ms (missed cycles : 5).[0m ×2 + 14.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sINFOros2_control_node[2026-09-18 13:08:05.887] [info] Got request to cancel active goal. ×2 + 14.15sINFOros2_control_node[2026-09-18 13:08:05.887] [info] Canceling active goal... ×2 + 14.18sERRORobjective_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: 1789736885.91386104 seconds ×3 + 14.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 14.72sINFOobjective_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: "" + 14.72sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789736886.52404642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763292 ms (missed cycles : 2). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763292 ms (missed cycles : 2).[0m ×2 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 15.01sINFOros2_control_node[2026-09-18 13:08:06.748] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-09-18 13:08:06.748] [info] Accepted new action goal ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671738 ms (missed cycles : 3). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671738 ms (missed cycles : 3).[0m ×2 + 17.27sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 17.28sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.29sINFOros2_control_node[2026-09-18 13:08:09.029] [info] Received new action goal ×2 + 17.29sINFOros2_control_node[2026-09-18 13:08:09.029] [info] Accepted new action goal ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998730 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998730 ms (missed cycles : 2).[0m ×2
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	11.1s	3 errors · 57 warnings · 268 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_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 + 2.32sERRORobjective_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: 1789736896.89476013 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.59sWARNros2_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 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.93sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.93sINFOobjective_server_nodecaller: ×8 + 2.93sINFOobjective_server_nodetype: 0 ×8 + 2.93sINFOobjective_server_nodename: "" ×8 + 2.93sINFOobjective_server_nodeinstance_id: "" ×8 + 2.93sINFOobjective_server_node ×8 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789736897.56605911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789736897.65619206 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789736898.28967786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595614 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595614 ms (missed cycles : 6).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818148 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818148 ms (missed cycles : 2).[0m ×2 + 7.61sWARNros2_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 + 8.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.30sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.61sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610576 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610576 ms (missed cycles : 2).[0m ×2 + 8.63sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 1 iterations (0.00387232 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.97sINFOros2_control_node[2026-09-18 13:08:23.543] [info] Received new action goal ×2 + 8.97sINFOros2_control_node[2026-09-18 13:08:23.544] [info] Accepted new action goal ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944397 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944397 ms (missed cycles : 2).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862775 ms (missed cycles : 3). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862775 ms (missed cycles : 3).[0m ×2 + 11.27sINFOros2_control_node[2026-09-18 13:08:25.846] [info] Received new action goal ×2 + 11.27sINFOros2_control_node[2026-09-18 13:08:25.846] [info] Accepted new action goal ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2).[0m ×2 + 12.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.92sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Received new action goal ×2 + 12.92sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Accepted new action goal ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4).[0m ×2 + 13.68sWARNros2_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 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2).[0m ×2 + 14.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789736908.80476427 seconds ×3 + 14.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.76sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789736909.42748451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.91sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789736909.48761201 seconds ×3 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3).[0m ×2 + 15.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789736910.13791060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.67sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 15.68sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.69sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Received new action goal ×2 + 15.69sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Accepted new action goal ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2).[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4).[0m ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.1s	9 errors · 58 warnings · 207 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346837 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346837 ms (missed cycles : 3).[0m ×2 + 0.89sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654623 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654623 ms (missed cycles : 2).[0m ×2 + 1.15sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.15sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.16sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 1.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789736929.27834487 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042866 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042866 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901719 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901719 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Using Yaml" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789736931.92217779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-18 13:08:52.126] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 13:08:52.126] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771035 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771035 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862290 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862290 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_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 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864054 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864054 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.809342 ms (missed cycles : 5). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.809342 ms (missed cycles : 5).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426292 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426292 ms (missed cycles : 2).[0m ×2 + 8.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.51sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.80sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 8.80sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 8.86sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (2.07e-07 s). ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.00sINFOobjective_server_nodeFound path in 5 iterations (0.00540399 s). ×2 + 9.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 9.13sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 9.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 9.25sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 9.43sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (2.02e-07 s). ×2 + 9.50sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.60sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661629 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661629 ms (missed cycles : 2).[0m ×2 + 9.74sINFOros2_control_node[2026-09-18 13:08:57.829] [info] Received new action goal ×2 + 9.74sINFOros2_control_node[2026-09-18 13:08:57.829] [info] Accepted new action goal ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091584 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091584 ms (missed cycles : 3).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879813 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879813 ms (missed cycles : 3).[0m ×2 + 12.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 12.28sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 12.28sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 12.28sINFOobjective_server_nodeFound path in 0 iterations (1.94e-07 s). ×2 + 12.29sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 12.30sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 12.42sINFOobjective_server_nodeFound path in 1 iterations (0.00331527 s). ×2 + 12.58sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 12.66sINFOros2_control_node[2026-09-18 13:09:00.748] [info] Received new action goal ×2 + 12.66sINFOros2_control_node[2026-09-18 13:09:00.748] [info] Accepted new action goal ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774447 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774447 ms (missed cycles : 3).[0m ×2 + 13.09sINFOros2_control_node[2026-09-18 13:09:01.180] [info] Received new action goal ×2 + 13.09sINFOros2_control_node[2026-09-18 13:09:01.180] [info] Accepted new action goal ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376644 ms (missed cycles : 4). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376644 ms (missed cycles : 4).[0m ×2 + 14.30sINFOobjective_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 + 14.30sINFOros2_control_node[2026-09-18 13:09:02.392] [info] Got request to cancel active goal. ×2 + 14.30sINFOros2_control_node[2026-09-18 13:09:02.392] [info] Canceling active goal... ×2 + 14.31sERRORobjective_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: 1789736942.40114617 seconds ×3 + 14.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.85sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841580 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841580 ms (missed cycles : 3).[0m ×2 + 14.96sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789736943.04982042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 15.14sINFOros2_control_node[2026-09-18 13:09:03.234] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-09-18 13:09:03.234] [info] Accepted new action goal ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.770608 ms (missed cycles : 5). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.770608 ms (missed cycles : 5).[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789980 ms (missed cycles : 3). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789980 ms (missed cycles : 3).[0m ×2 + 17.66sINFOros2_control_node[2026-09-18 13:09:05.750] [info] Received new action goal ×2 + 17.66sINFOros2_control_node[2026-09-18 13:09:05.750] [info] Accepted new action goal ×2
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.0s	3 errors · 57 warnings · 2236 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×339 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×339 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×678 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×678 + 0.57sWARNros2_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 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737079.19431686 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 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.92sINFOobjective_server_nodecaller: ×4 + 3.92sINFOobjective_server_nodetype: 0 ×4 + 3.92sINFOobjective_server_nodename: "" ×4 + 3.92sINFOobjective_server_nodeinstance_id: "" ×4 + 3.92sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737079.91646743 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 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2).[0m ×2 + 6.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988465 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988465 ms (missed cycles : 2).[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149518 ms (missed cycles : 3). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149518 ms (missed cycles : 3).[0m ×2 + 8.77sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.77sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.77sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.05sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 9.05sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 9.06sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 9.08sINFOobjective_server_nodeFound path in 0 iterations (8.48e-07 s). ×2 + 9.17sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032266 ms (missed cycles : 2). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032266 ms (missed cycles : 2).[0m ×2 + 9.19sINFOobjective_server_nodeFound path in 1 iterations (0.00356927 s). ×2 + 9.34sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.39sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.41sINFOros2_control_node[2026-09-18 13:11:25.304] [info] Received new action goal ×2 + 9.41sINFOros2_control_node[2026-09-18 13:11:25.304] [info] Accepted new action goal ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201148 ms (missed cycles : 2). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201148 ms (missed cycles : 2).[0m ×2 + 11.20sWARNros2_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 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3).[0m ×2 + 11.71sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Received new action goal ×2 + 11.71sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Accepted new action goal ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6).[0m ×2 + 13.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.35sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Received new action goal ×2 + 13.35sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Accepted new action goal ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3).[0m ×2 + 14.39sINFOobjective_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 + 14.40sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Got request to cancel active goal. ×2 + 14.40sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Canceling active goal... ×2 + 14.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737090.31156707 seconds ×3 + 14.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4).[0m ×2 + 15.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.02sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.11sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737091.00006485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.27sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 15.29sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Received new action goal ×2 + 15.29sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Accepted new action goal ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4).[0m ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4).[0m ×2 + 17.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5).[0m ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	11.0s	3 errors · 57 warnings · 257 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162889 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162889 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999511 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999511 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454410 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454410 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138974 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138974 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789737111.80507827 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.45sWARNros2_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 ×4 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.82sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.82sINFOobjective_server_nodecaller: ×8 + 3.82sINFOobjective_server_nodetype: 0 ×8 + 3.82sINFOobjective_server_nodename: "" ×8 + 3.82sINFOobjective_server_nodeinstance_id: "" ×8 + 3.82sINFOobjective_server_node ×8 + 3.89sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789737112.45503068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sINFOros2_control_node[2026-09-18 13:11:52.579] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-18 13:11:52.579] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943573 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943573 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597737 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597737 ms (missed cycles : 5).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282152 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282152 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053777 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053777 ms (missed cycles : 2).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731165 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731165 ms (missed cycles : 2).[0m ×2 + 9.02sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445957 ms (missed cycles : 4). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445957 ms (missed cycles : 4).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099778 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099778 ms (missed cycles : 3).[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4).[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4).[0m ×2 + 14.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.23sERRORobjective_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: 1789737122.79532814 seconds ×3 + 14.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737123.42245722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737123.51259065 seconds ×3 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3).[0m ×2 + 15.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737124.11110687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.56sINFOobjective_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 + 15.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737124.13354445 seconds ×3 + 16.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 16.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2).[0m ×2 + 16.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737124.76324153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.33sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 16.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 16.34sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Received new action goal ×2 + 16.34sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Accepted new action goal ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7).[0m ×2
✓ passed	3 Waypoints Pick and Place with AprilTags	3_waypoint_pick_and_place_apriltags.xml	11.0s	6 errors · 54 warnings · 204 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967567 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967567 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070774 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070774 ms (missed cycles : 4).[0m ×2 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (6.36e-07 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.58sINFOros2_control_node[2026-09-18 13:08:04.982] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-09-18 13:08:04.982] [info] Accepted new action goal ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203676 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203676 ms (missed cycles : 5).[0m ×2 + 2.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.49sINFOros2_control_node[2026-09-18 13:08:05.887] [info] Got request to cancel active goal. ×2 + 2.49sINFOros2_control_node[2026-09-18 13:08:05.887] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1789736885.91386104 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.05sINFOobjective_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: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.05sINFOobjective_server_nodecaller: ×6 + 3.05sINFOobjective_server_nodetype: 0 ×6 + 3.05sINFOobjective_server_nodename: "" ×6 + 3.05sINFOobjective_server_nodeinstance_id: "" ×6 + 3.05sINFOobjective_server_node ×6 + 3.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789736886.52404642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763292 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763292 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.35sINFOros2_control_node[2026-09-18 13:08:06.748] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-18 13:08:06.748] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671738 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671738 ms (missed cycles : 3).[0m ×2 + 5.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.61sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.63sINFOros2_control_node[2026-09-18 13:08:09.029] [info] Received new action goal ×2 + 5.63sINFOros2_control_node[2026-09-18 13:08:09.029] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998730 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998730 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120398 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120398 ms (missed cycles : 3).[0m ×2 + 7.64sWARNros2_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 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128117 ms (missed cycles : 3). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128117 ms (missed cycles : 3).[0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639028 ms (missed cycles : 3). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639028 ms (missed cycles : 3).[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807331 ms (missed cycles : 2). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807331 ms (missed cycles : 2).[0m ×2 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2).[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2).[0m ×2 + 13.49sERRORobjective_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: 1789736896.89476013 seconds ×3 + 13.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 14.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.11sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789736897.56605911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.25sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789736897.65619206 seconds ×3 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4).[0m ×2 + 14.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789736898.28967786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 15.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.10sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Accepted new action goal ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3).[0m ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.9s	6 errors · 57 warnings · 143 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_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 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Canceling active goal... ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737090.31156707 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737091.00006485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5).[0m ×2 + 7.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493597 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493597 ms (missed cycles : 2).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100682 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100682 ms (missed cycles : 3).[0m ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778086 ms (missed cycles : 3). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778086 ms (missed cycles : 3).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055505 ms (missed cycles : 3). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055505 ms (missed cycles : 3).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580439 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580439 ms (missed cycles : 3).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046830 ms (missed cycles : 3). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046830 ms (missed cycles : 3).[0m ×2 + 13.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770467 ms (missed cycles : 3). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770467 ms (missed cycles : 3).[0m ×2 + 14.20sERRORobjective_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: 1789737101.29052281 seconds ×3 + 14.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.74sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.80sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789737101.88863468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 15.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.12sINFOros2_control_node[2026-09-18 13:11:42.213] [info] Received new action goal ×2 + 15.12sINFOros2_control_node[2026-09-18 13:11:42.213] [info] Accepted new action goal ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549362 ms (missed cycles : 5). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549362 ms (missed cycles : 5).[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830636 ms (missed cycles : 4). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830636 ms (missed cycles : 4).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229129 ms (missed cycles : 6). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229129 ms (missed cycles : 6).[0m ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.9s	3 errors · 57 warnings · 222 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.90sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789736908.80476427 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.74sINFOobjective_server_nodecaller: ×6 + 2.74sINFOobjective_server_nodetype: 0 ×6 + 2.74sINFOobjective_server_nodename: "" ×6 + 2.74sINFOobjective_server_nodeinstance_id: "" ×6 + 2.74sINFOobjective_server_node ×6 + 2.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789736909.42748451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789736909.48761201 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.54sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789736910.13791060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.66sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2).[0m ×2 + 7.00sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.01sINFOros2_control_node[2026-09-18 13:08:33.612] [info] Received new action goal ×2 + 7.01sINFOros2_control_node[2026-09-18 13:08:33.612] [info] Accepted new action goal ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530893 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530893 ms (missed cycles : 3).[0m ×2 + 8.41sWARNros2_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 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114582 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114582 ms (missed cycles : 2).[0m ×2 + 9.35sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 9.36sINFOros2_control_node[2026-09-18 13:08:35.960] [info] Received new action goal ×2 + 9.36sINFOros2_control_node[2026-09-18 13:08:35.960] [info] Accepted new action goal ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691169 ms (missed cycles : 3). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691169 ms (missed cycles : 3).[0m ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2).[0m ×2 + 11.70sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 11.71sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Received new action goal ×2 + 11.71sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Accepted new action goal ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5).[0m ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2).[0m ×2 + 13.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.79sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Got request to cancel active goal. ×2 + 13.79sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Canceling active goal... ×2 + 13.80sERRORobjective_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: 1789736920.40127897 seconds ×3 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2).[0m ×2 + 14.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789736921.03605962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.53sWARNros2_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 + 14.62sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 14.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.63sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Received new action goal ×2 + 14.63sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Accepted new action goal ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2).[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2).[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3).[0m ×2
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	9 errors · 60 warnings · 188 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1789736920.40127897 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789736921.03605962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.42sWARNros2_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 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084704 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084704 ms (missed cycles : 3).[0m ×2 + 7.83sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.83sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.83sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.28sINFOobjective_server_nodeFound path in 5 iterations (0.00561349 s). ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201948 ms (missed cycles : 5). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201948 ms (missed cycles : 5).[0m ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.41sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (1.94e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (2.23e-07 s). ×2 + 8.86sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.01sINFOros2_control_node[2026-09-18 13:08:46.713] [info] Received new action goal ×2 + 9.01sINFOros2_control_node[2026-09-18 13:08:46.713] [info] Accepted new action goal ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.293314 ms (missed cycles : 5). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.293314 ms (missed cycles : 5).[0m ×2 + 9.62sWARNros2_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 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346837 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346837 ms (missed cycles : 3).[0m ×2 + 11.28sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654623 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654623 ms (missed cycles : 2).[0m ×2 + 11.54sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.54sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.54sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789736929.27834487 seconds ×3 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042866 ms (missed cycles : 3). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042866 ms (missed cycles : 3).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901719 ms (missed cycles : 5). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901719 ms (missed cycles : 5).[0m ×2 + 14.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Using Yaml" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.12sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.22sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789736931.92217779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 14.43sINFOros2_control_node[2026-09-18 13:08:52.126] [info] Received new action goal ×2 + 14.43sINFOros2_control_node[2026-09-18 13:08:52.126] [info] Accepted new action goal ×2 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771035 ms (missed cycles : 2). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771035 ms (missed cycles : 2).[0m ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862290 ms (missed cycles : 2). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862290 ms (missed cycles : 2).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864054 ms (missed cycles : 3). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864054 ms (missed cycles : 3).[0m ×2
✓ passed	Stationary Admittance	stationary_admittance.xml	10.7s	6 errors · 57 warnings · 388 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.28sERRORobjective_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: 1789737122.79532814 seconds ×3 + 1.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.29sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.85sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.85sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.85sINFOobjective_server_nodecaller: ×12 + 1.86sINFOobjective_server_nodetype: 0 ×12 + 1.86sINFOobjective_server_nodename: "" ×12 + 1.86sINFOobjective_server_nodeinstance_id: "" ×12 + 1.86sINFOobjective_server_node ×12 + 1.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737123.42245722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737123.51259065 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.54sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737124.11110687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.62sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737124.13354445 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737124.76324153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.40sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956656 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956656 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236489 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236489 ms (missed cycles : 4).[0m ×2 + 6.70sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.70sINFOros2_control_node[2026-09-18 13:12:08.217] [info] Received new action goal ×2 + 6.70sINFOros2_control_node[2026-09-18 13:12:08.217] [info] Accepted new action goal ×2 + 6.70sINFOros2_control_node[2026-09-18 13:12:08.217] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795830 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795830 ms (missed cycles : 2).[0m ×2 + 7.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934363 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934363 ms (missed cycles : 3).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090653 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090653 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.971997 ms (missed cycles : 6). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.971997 ms (missed cycles : 6).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670348 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670348 ms (missed cycles : 3).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626405 ms (missed cycles : 8). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626405 ms (missed cycles : 8).[0m ×2 + 13.28sINFOros2_control_node[2026-09-18 13:12:14.793] [info] Got request to cancel active goal. ×2 + 13.28sINFOros2_control_node[2026-09-18 13:12:14.793] [info] Canceling active goal... ×2 + 13.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737134.79794049 seconds ×3 + 13.53sWARNros2_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 + 13.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737135.39765382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2).[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2).[0m ×2 + 15.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737136.72454476 seconds ×3 + 15.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.75sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737137.32306099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.81sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737137.32533765 seconds ×3 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3).[0m ×2 + 16.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 16.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.52sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737138.03051591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737138.07154274 seconds ×3
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.5s	3 errors · 57 warnings · 129 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055505 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055505 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580439 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580439 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046830 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046830 ms (missed cycles : 3).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770467 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770467 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sERRORobjective_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: 1789737101.29052281 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.78sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.78sINFOobjective_server_nodecaller: ×4 + 3.78sINFOobjective_server_nodetype: 0 ×4 + 3.78sINFOobjective_server_nodename: "" ×4 + 3.78sINFOobjective_server_nodeinstance_id: "" ×4 + 3.78sINFOobjective_server_node ×4 + 3.84sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789737101.88863468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.16sINFOros2_control_node[2026-09-18 13:11:42.213] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-18 13:11:42.213] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549362 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549362 ms (missed cycles : 5).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830636 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830636 ms (missed cycles : 4).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229129 ms (missed cycles : 6). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229129 ms (missed cycles : 6).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998169 ms (missed cycles : 5). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998169 ms (missed cycles : 5).[0m ×2 + 8.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 8.17sINFOros2_control_node[2026-09-18 13:11:46.220] [info] Received new action goal ×2 + 8.17sINFOros2_control_node[2026-09-18 13:11:46.220] [info] Accepted new action goal ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023965 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023965 ms (missed cycles : 2).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950072 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950072 ms (missed cycles : 3).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162889 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162889 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999511 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999511 ms (missed cycles : 3).[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454410 ms (missed cycles : 5). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454410 ms (missed cycles : 5).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138974 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138974 ms (missed cycles : 2).[0m ×2 + 13.75sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789737111.80507827 seconds ×3 + 13.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 14.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.34sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.40sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789737112.45503068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.52sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 14.52sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.53sINFOros2_control_node[2026-09-18 13:11:52.579] [info] Received new action goal ×2 + 14.53sINFOros2_control_node[2026-09-18 13:11:52.579] [info] Accepted new action goal ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943573 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943573 ms (missed cycles : 2).[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597737 ms (missed cycles : 5). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597737 ms (missed cycles : 5).[0m ×2 + 16.43sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282152 ms (missed cycles : 3). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282152 ms (missed cycles : 3).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	10.3s	61 errors · 36 warnings · 391 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-18 13:12:14.793] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-18 13:12:14.793] [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: 1789737134.79794049 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.26sWARNros2_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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737135.39765382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2).[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2).[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737136.72454476 seconds ×3 + 2.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737137.32306099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.54sINFOobjective_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 + 2.54sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.54sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737137.32533765 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737138.03051591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737138.07154274 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737138.67015862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797659 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797659 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737139.19028616 seconds ×3 + 4.44sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.887758 ms (missed cycles : 7). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.887758 ms (missed cycles : 7).[0m ×2 + 5.31sWARNros2_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 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721382 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721382 ms (missed cycles : 4).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.283323 ms (missed cycles : 7). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.283323 ms (missed cycles : 7).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890783 ms (missed cycles : 4). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890783 ms (missed cycles : 4).[0m ×2 + 9.75sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.77sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.77sERRORweb_video_auth_proxy-23process has died [pid 7350, 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 + 9.77sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.77sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.77sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.77sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.77sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.78sERRORweb_bridge_auth_proxy-22process has died [pid 7349, 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 + 9.78sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.78sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.78sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.79sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.79sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.80sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.80sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.80sINFOvideo_server-21process has finished cleanly [pid 7348] ×2 + 9.80sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.81sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.81sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922521 ms (missed cycles : 2). + 9.82sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.82sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.83sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.83sINFOcontroller_managerShutdown request received.... + 9.83sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.83sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.83sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.83sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.83sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.83sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.83sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.83sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.83sINFOvideo_server2026/09/18 13:12:24 INF shutting down gracefully ×2 + 9.83sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.83sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.83sINFOvideo_server2026/09/18 13:12:24 INF [WebRTC] closing ×2 + 9.83sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.83sINFOvideo_server2026/09/18 13:12:24 INF [RTSP] closing ×2 + 9.83sINFOvideo_server2026/09/18 13:12:24 INF waiting for running hooks ×2 + 9.83sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.83sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.83sINFOcontroller_managerShutting down the controller manager. + 9.83sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.83sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922521 ms (missed cycles : 2).[0m ×2 + 9.83sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.83sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.83sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.83sERRORmove_groupStack trace (most recent call last) in thread 7701: ×2 + 9.83sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.83sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.83sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.83sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.83sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.83sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.83sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.83sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.83sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.83sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.83sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.83sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.83sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.84sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.84sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.84sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.84sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.84sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.84sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 9.84sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.84sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f257a6a1a63, in __clone ×2 + 9.84sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f257a614aa3, in ×2 + 9.84sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f257a8a6db3, in ×2 + 9.84sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f257b00ab54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.84sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f257ac38620, in rclcpp::Rate::sleep() ×2 + 9.84sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f257ab7ad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.84sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f257ab3c087, in ×2 + 9.84sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f257a875390, in __cxa_throw ×2 + 9.84sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f257a85fa54, in std::terminate() ×2 + 9.84sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f257a8750d9, in ×2 + 9.84sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f257a85fff4, in ×2 + 9.84sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f257a5a08fe, in abort ×2 + 9.84sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f257a5bd27d, in raise ×2 + 9.84sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f257a616b2c, in pthread_kill ×2 + 9.84sERRORmove_groupAborted (Signal sent by tkill() 7259 0) ×2 + 9.85sERRORmove_group-9process has died [pid 7259, 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_l_4e3na1 --params-file /tmp/launch_params_qk_7pcky --params-file /tmp/launch_params_gnwhdnhm --params-file /tmp/launch_params_fyhiy80l --params-file /tmp/launch_params_at9nrlfa --params-file /tmp/launch_params_2ykp6qf0']. ×2 + 10.03sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.03sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.03sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.83sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7347] ×2 + 10.83sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.85sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7263] ×2 + 10.85sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7262] ×2 + 10.88sINFOparameter_manager_node-10process has finished cleanly [pid 7260] ×2 + 10.90sINFOexecute_objective_bridge-17process has finished cleanly [pid 7267] ×2 + 10.90sINFOui_teleop_bridge-18process has finished cleanly [pid 7268] ×2 + 10.90sINFOwaypoint_manager_node-11process has finished cleanly [pid 7261] ×2 + 10.96sINFOcomponent_container_mt-16process has finished cleanly [pid 7266] ×2 + 10.98sINFOobjective_server_node[0;m[2026-09-18 13:12:25.766] [moveit_pro_license] [critical] ×2 + 10.98sINFOobjective_server_node************************************************* ×4 + 10.98sINFOobjective_server_node* MoveIt Pro License ×2 + 10.98sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.11sINFOobjective_server_node_main-14process has finished cleanly [pid 7264] ×2 + 11.11sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.00sINFOcomponent_container_mt-15process has finished cleanly [pid 7265] ×2 + 12.27sINFOweb_bridge-19process has finished cleanly [pid 7269] ×2 + 12.27sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.47sINFOros2_control_node-1process has finished cleanly [pid 7222] ×2
✓ passed	Look at Table	look_at_table.xml	3.7s	34 warnings · 205 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058369 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058369 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421419 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421419 ms (missed cycles : 2).[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789736954.31231737 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414333 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414333 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.55sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.55sINFOobjective_server_nodecaller: ×6 + 2.55sINFOobjective_server_nodetype: 0 ×6 + 2.55sINFOobjective_server_nodename: "" ×6 + 2.55sINFOobjective_server_nodeinstance_id: "" ×6 + 2.55sINFOobjective_server_node ×6 + 2.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789736954.98035502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789736955.06049991 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.28sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789736955.65668201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5).[0m ×2 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.42sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789736957.79683447 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7).[0m ×2 + 5.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6).[0m ×2 + 6.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.99sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789736959.43728375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.14sINFOobjective_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 + 7.15sINFOobjective_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 + 7.43sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 7.43sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.47sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Received new action goal ×2 + 7.47sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Accepted new action goal ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.9s	3 errors · 31 warnings · 213 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.971997 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.971997 ms (missed cycles : 6).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670348 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670348 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626405 ms (missed cycles : 8). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626405 ms (missed cycles : 8).[0m ×2 + 2.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOros2_control_node[2026-09-18 13:12:14.793] [info] Got request to cancel active goal. ×2 + 2.64sINFOros2_control_node[2026-09-18 13:12:14.793] [info] Canceling active goal... ×2 + 2.65sERRORobjective_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: 1789737134.79794049 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.90sWARNros2_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.19sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.19sINFOobjective_server_nodecaller: ×8 + 3.19sINFOobjective_server_nodetype: 0 ×8 + 3.19sINFOobjective_server_nodename: "" ×8 + 3.19sINFOobjective_server_nodeinstance_id: "" ×8 + 3.19sINFOobjective_server_node ×8 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737135.39765382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737136.72454476 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.17sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737137.32306099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.17sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.18sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.18sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737137.32533765 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.83sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737138.03051591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737138.07154274 seconds ×3 + 6.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.46sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737138.67015862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797659 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797659 ms (missed cycles : 3).[0m ×2 + 7.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737139.19028616 seconds ×3 + 7.08sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.887758 ms (missed cycles : 7). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.887758 ms (missed cycles : 7).[0m ×2 + 7.95sWARNros2_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 · 691 info
+ 0.00sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.00sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.00sWARNros2_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 + 0.00sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.00sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.00sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.00sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.00sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.00sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.00sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.00sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.00sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.00sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.00sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.00sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.01sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.01sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.01sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.01sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.01sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.09sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.09sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.21sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.21sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.22sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.40sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.42sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.42sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.42sINFOros2_control_node[2026-09-18 13:07:47.984] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.42sINFOros2_control_node[2026-09-18 13:07:47.984] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.42sINFOcomponent_container_mt[2026-09-18 13:07:47.986] [moveit_pro_license] [info] ×2 + 0.42sINFOcomponent_container_mt************************************************* ×4 + 0.42sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.42sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.45sINFOros2_control_node[2026-09-18 13:07:48.010] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.45sINFOros2_control_node[2026-09-18 13:07:48.010] [info] Controller state will be published at 50 Hz. ×2 + 0.46sINFOros2_control_node[2026-09-18 13:07:48.018] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.55sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 0.56sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.56sWARNros2_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 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101796 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101796 ms (missed cycles : 2).[0m ×2 + 0.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.71sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.71sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.71sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.77sINFOros2-6process has finished cleanly [pid 7227] ×2 + 0.78sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.79sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.79sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.79sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.80sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.80sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.80sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.81sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.81sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.81sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.06sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.06sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.06sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.07sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.07sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 1.07sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 1.08sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.08sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.11sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.11sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.12sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.12sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.12sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.12sINFOros2-5process has finished cleanly [pid 7226] ×2 + 1.13sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.13sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.43sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.43sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.43sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.45sINFOros2-3process has finished cleanly [pid 7224] ×2 + 1.50sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 1.50sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 1.55sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.55sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.55sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.55sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.58sINFOros2_control_node[2026-09-18 13:07:49.139] [info] Controller state will be published at 20 Hz. ×2 + 1.58sINFOros2_control_node[2026-09-18 13:07:49.140] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103498 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103498 ms (missed cycles : 2).[0m ×2 + 1.88sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.88sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 1.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 1.92sINFOros2-8process has finished cleanly [pid 7229] ×2 + 1.92sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.92sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.92sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.92sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.92sWARNobjective_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 + 1.93sINFOforce_torque_sensor_broadcasterconfigure successful + 1.93sINFOros2_control_nodeconfigure successful[0m ×2 + 1.93sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.93sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.94sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.94sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.99sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.15sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.25sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.25sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 2.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 2.28sINFOros2-2process has finished cleanly [pid 7223] ×2 + 2.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.29sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.29sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.64sINFOros2-4process has finished cleanly [pid 7225] ×2 + 2.64sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.64sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.64sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.64sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.69sINFOobjective_server_nodecaller: ×14 + 2.69sINFOobjective_server_nodetype: 0 ×14 + 2.69sINFOobjective_server_nodename: "" ×14 + 2.69sINFOobjective_server_nodeinstance_id: "" ×14 + 2.69sINFOobjective_server_node ×14 + 2.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 2.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789736870.31105614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.75sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.75sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789736870.32129502 seconds ×3 + 2.78sINFOros2_control_node[2026-09-18 13:07:50.341] [info] Controller state will be published at 10 Hz. ×2 + 2.78sINFOros2_control_node[2026-09-18 13:07:50.342] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.11sINFOros2-7process has finished cleanly [pid 7228] ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789736870.93333745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2).[0m ×2 + 4.17sWARNros2_control_nodeCamera render tick took 1.89 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 + 4.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 6.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 6.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.14sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.14sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 7.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.92sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 7.92sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.7s	25 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501807 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501807 ms (missed cycles : 5).[0m ×2 + 1.09sWARNros2_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 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058369 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058369 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421419 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421419 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789736954.31231737 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414333 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414333 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789736954.98035502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789736955.06049991 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.37sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789736955.65668201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.51sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4).[0m ×2 + 6.51sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789736957.79683447 seconds ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7).[0m ×2 + 6.73sWARNros2_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	Visualize Grasp Link	visualize_grasp_link.xml	0.7s	3 errors · 28 warnings · 213 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626405 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626405 ms (missed cycles : 8).[0m ×2 + 0.42sINFOobjective_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 + 0.42sINFOros2_control_node[2026-09-18 13:12:14.793] [info] Got request to cancel active goal. ×2 + 0.42sINFOros2_control_node[2026-09-18 13:12:14.793] [info] Canceling active goal... ×2 + 0.43sERRORobjective_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: 1789737134.79794049 seconds ×3 + 0.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.67sWARNros2_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 + 0.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.97sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.97sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.97sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.97sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.97sINFOobjective_server_nodecaller: ×8 + 0.97sINFOobjective_server_nodetype: 0 ×8 + 0.97sINFOobjective_server_nodename: "" ×8 + 0.97sINFOobjective_server_nodeinstance_id: "" ×8 + 0.97sINFOobjective_server_node ×8 + 1.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737135.39765382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737136.72454476 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737137.32306099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.95sINFOobjective_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 + 2.95sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737137.32533765 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737138.03051591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737138.07154274 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737138.67015862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797659 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797659 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737139.19028616 seconds ×3 + 4.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.887758 ms (missed cycles : 7). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.887758 ms (missed cycles : 7).[0m ×2 + 5.73sWARNros2_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 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721382 ms (missed cycles : 4). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721382 ms (missed cycles : 4).[0m ×2
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.7s	3 errors · 26 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099778 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4).[0m ×2 + 3.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sERRORobjective_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: 1789737122.79532814 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.96sINFOobjective_server_nodecaller: ×6 + 3.96sINFOobjective_server_nodetype: 0 ×6 + 3.96sINFOobjective_server_nodename: "" ×6 + 3.96sINFOobjective_server_nodeinstance_id: "" ×6 + 3.96sINFOobjective_server_node ×6 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737123.42245722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737123.51259065 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.64sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.67sWARNros2_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 + 4.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737124.11110687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_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 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737124.13354445 seconds ×3 + 5.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.29sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737124.76324153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.50sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Accepted new action goal ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956656 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956656 ms (missed cycles : 3).[0m ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	3 errors · 23 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_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 + 2.32sERRORobjective_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: 1789736896.89476013 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sWARNros2_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 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789736897.56605911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789736897.65619206 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789736898.28967786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595614 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595614 ms (missed cycles : 6).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.7s	27 warnings · 519 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 7224] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-09-18 13:07:49.139] [info] Controller state will be published at 20 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-18 13:07:49.140] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103498 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103498 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.46sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7229] ×2 + 0.50sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.50sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.50sWARNobjective_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 + 0.50sINFOforce_torque_sensor_broadcasterconfigure successful + 0.50sINFOros2_control_nodeconfigure successful[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.51sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.51sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.51sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.57sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.73sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.83sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.83sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.83sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.85sINFOros2-2process has finished cleanly [pid 7223] ×2 + 0.86sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.86sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.88sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.21sINFOros2-4process has finished cleanly [pid 7225] ×2 + 1.22sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.22sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.22sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.26sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.26sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.26sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.26sINFOobjective_server_nodecaller: ×14 + 1.26sINFOobjective_server_nodetype: 0 ×14 + 1.26sINFOobjective_server_nodename: "" ×14 + 1.26sINFOobjective_server_nodeinstance_id: "" ×14 + 1.26sINFOobjective_server_node ×14 + 1.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 1.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789736870.31105614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.33sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789736870.32129502 seconds ×3 + 1.35sINFOros2_control_node[2026-09-18 13:07:50.341] [info] Controller state will be published at 10 Hz. ×2 + 1.36sINFOros2_control_node[2026-09-18 13:07:50.342] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.69sINFOros2-7process has finished cleanly [pid 7228] ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.95sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789736870.93333745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2).[0m ×2 + 2.75sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 5.28sWARNros2_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 + 5.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.50sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	23 warnings · 125 info
+ 0.00sINFOros2_control_node[2026-09-18 13:08:25.846] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 13:08:25.846] [info] Accepted new action goal ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Accepted new action goal ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789736908.80476427 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789736909.42748451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789736909.48761201 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.29sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789736910.13791060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.42sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2).[0m ×2
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	3 errors · 23 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_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 + 2.38sERRORobjective_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: 1789737122.79532814 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.96sINFOobjective_server_nodecaller: ×6 + 2.96sINFOobjective_server_nodetype: 0 ×6 + 2.96sINFOobjective_server_nodename: "" ×6 + 2.96sINFOobjective_server_nodeinstance_id: "" ×6 + 2.96sINFOobjective_server_node ×6 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737123.42245722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737123.51259065 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737124.11110687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737124.13354445 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737124.76324153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.50sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956656 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956656 ms (missed cycles : 3).[0m ×2
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	3 errors · 25 warnings · 213 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626405 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626405 ms (missed cycles : 8).[0m ×2 + 0.42sINFOobjective_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 + 0.42sINFOros2_control_node[2026-09-18 13:12:14.793] [info] Got request to cancel active goal. ×2 + 0.42sINFOros2_control_node[2026-09-18 13:12:14.793] [info] Canceling active goal... ×2 + 0.43sERRORobjective_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: 1789737134.79794049 seconds ×3 + 0.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.67sWARNros2_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 + 0.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.97sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.97sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.97sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.97sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.97sINFOobjective_server_nodecaller: ×8 + 0.97sINFOobjective_server_nodetype: 0 ×8 + 0.97sINFOobjective_server_nodename: "" ×8 + 0.97sINFOobjective_server_nodeinstance_id: "" ×8 + 0.97sINFOobjective_server_node ×8 + 1.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737135.39765382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737136.72454476 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737137.32306099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.95sINFOobjective_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 + 2.95sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737137.32533765 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737138.03051591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737138.07154274 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737138.67015862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797659 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797659 ms (missed cycles : 3).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737139.19028616 seconds ×3 + 4.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.887758 ms (missed cycles : 7). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.887758 ms (missed cycles : 7).[0m ×2 + 5.73sWARNros2_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
− skipped	Octomap Example	octomap_example.xml	0.1s	22 warnings · 2122 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×339 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×339 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×678 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×678 + 0.57sWARNros2_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 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737079.19431686 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 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737079.91646743 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 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2).[0m ×2 + 6.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	23 warnings · 121 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.90sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789736908.80476427 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.74sINFOobjective_server_nodecaller: ×4 + 2.74sINFOobjective_server_nodetype: 0 ×4 + 2.74sINFOobjective_server_nodename: "" ×4 + 2.74sINFOobjective_server_nodeinstance_id: "" ×4 + 2.74sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789736909.42748451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789736909.48761201 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.54sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789736910.13791060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.66sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2).[0m ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Canceling active goal... ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737090.31156707 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737091.00006485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5).[0m ×2
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	3 errors · 23 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1789736920.40127897 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789736921.03605962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sWARNros2_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 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3).[0m ×2
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	3 errors · 20 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_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 + 2.32sERRORobjective_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: 1789736896.89476013 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sWARNros2_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 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789736897.56605911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789736897.65619206 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789736898.28967786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3).[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 1.906197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_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 + 2.32sERRORobjective_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: 1789736896.89476013 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sWARNros2_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 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789736897.56605911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789736897.65619206 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789736898.28967786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3).[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 1.906197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_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 + 2.32sERRORobjective_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: 1789736896.89476013 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sWARNros2_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 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789736897.56605911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789736897.65619206 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789736898.28967786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595614 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595614 ms (missed cycles : 6).[0m ×2
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	3 errors · 23 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_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 + 2.32sERRORobjective_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: 1789736896.89476013 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sWARNros2_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 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789736897.56605911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789736897.65619206 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789736898.28967786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595614 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595614 ms (missed cycles : 6).[0m ×2
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	3 errors · 23 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_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 + 2.32sERRORobjective_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: 1789736896.89476013 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sWARNros2_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 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789736897.56605911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789736897.65619206 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789736898.28967786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595614 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595614 ms (missed cycles : 6).[0m ×2
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	3 errors · 23 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906197 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935480 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924451 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_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 + 2.32sERRORobjective_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: 1789736896.89476013 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sWARNros2_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 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789736897.56605911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789736897.65619206 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300129 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789736898.28967786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 13:08:18.504] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315953 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902896 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595614 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595614 ms (missed cycles : 6).[0m ×2
− skipped	Collect Training Data with Behaviors	collect_training_data_with_behaviors.xml	0.0s	23 warnings · 121 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.90sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789736908.80476427 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.74sINFOobjective_server_nodecaller: ×4 + 2.74sINFOobjective_server_nodetype: 0 ×4 + 2.74sINFOobjective_server_nodename: "" ×4 + 2.74sINFOobjective_server_nodeinstance_id: "" ×4 + 2.74sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789736909.42748451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789736909.48761201 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.54sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789736910.13791060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.66sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2).[0m ×2
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	23 warnings · 121 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.90sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789736908.80476427 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.74sINFOobjective_server_nodecaller: ×4 + 2.74sINFOobjective_server_nodetype: 0 ×4 + 2.74sINFOobjective_server_nodename: "" ×4 + 2.74sINFOobjective_server_nodeinstance_id: "" ×4 + 2.74sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789736909.42748451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789736909.48761201 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.54sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789736910.13791060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.66sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2).[0m ×2
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	23 warnings · 121 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.90sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789736908.80476427 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.74sINFOobjective_server_nodecaller: ×4 + 2.74sINFOobjective_server_nodetype: 0 ×4 + 2.74sINFOobjective_server_nodename: "" ×4 + 2.74sINFOobjective_server_nodeinstance_id: "" ×4 + 2.74sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789736909.42748451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789736909.48761201 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.54sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789736910.13791060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.66sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2).[0m ×2
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	23 warnings · 121 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891139 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.90sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-09-18 13:08:27.498] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377251 ms (missed cycles : 4).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025368 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789736908.80476427 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.74sINFOobjective_server_nodecaller: ×4 + 2.74sINFOobjective_server_nodetype: 0 ×4 + 2.74sINFOobjective_server_nodename: "" ×4 + 2.74sINFOobjective_server_nodeinstance_id: "" ×4 + 2.74sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789736909.42748451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789736909.48761201 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707607 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.54sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789736910.13791060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.66sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-18 13:08:30.263] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038238 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814607 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240857 ms (missed cycles : 2).[0m ×2
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	3 errors · 23 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1789736920.40127897 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789736921.03605962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sWARNros2_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 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3).[0m ×2
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	3 errors · 23 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1789736920.40127897 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789736921.03605962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sWARNros2_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 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3).[0m ×2
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	3 errors · 23 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1789736920.40127897 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789736921.03605962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sWARNros2_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 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3).[0m ×2
− skipped	Force Relaxation	force_relaxation.xml	0.0s	3 errors · 23 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1789736920.40127897 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789736921.03605962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sWARNros2_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 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3).[0m ×2
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	3 errors · 23 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1789736920.40127897 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789736921.03605962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sWARNros2_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 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3).[0m ×2
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	3 errors · 23 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1789736920.40127897 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789736921.03605962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sWARNros2_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 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3).[0m ×2
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	3 errors · 23 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1789736920.40127897 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789736921.03605962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sWARNros2_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 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3).[0m ×2
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	3 errors · 23 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1789736920.40127897 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789736921.03605962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sWARNros2_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 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3).[0m ×2
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	3 errors · 23 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1789736920.40127897 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789736921.03605962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sWARNros2_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 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3).[0m ×2
− skipped	Grasp Planning	grasp_planning.xml	0.0s	3 errors · 23 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061112 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-09-18 13:08:38.310] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427316 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740384 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-18 13:08:40.388] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1789736920.40127897 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778446 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789736921.03605962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sWARNros2_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 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 13:08:41.230] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146110 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694404 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044987 ms (missed cycles : 3).[0m ×2
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	3 errors · 20 warnings · 96 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879813 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879813 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (1.94e-07 s). ×2 + 0.61sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.74sINFOobjective_server_nodeFound path in 1 iterations (0.00331527 s). ×2 + 0.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.98sINFOros2_control_node[2026-09-18 13:09:00.748] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-09-18 13:09:00.748] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774447 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774447 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_node[2026-09-18 13:09:01.180] [info] Received new action goal ×2 + 1.41sINFOros2_control_node[2026-09-18 13:09:01.180] [info] Accepted new action goal ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376644 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376644 ms (missed cycles : 4).[0m ×2 + 2.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOros2_control_node[2026-09-18 13:09:02.392] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-09-18 13:09:02.392] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1789736942.40114617 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841580 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841580 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789736943.04982042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.47sINFOros2_control_node[2026-09-18 13:09:03.234] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-18 13:09:03.234] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.770608 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.770608 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789980 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789980 ms (missed cycles : 3).[0m ×2 + 5.98sINFOros2_control_node[2026-09-18 13:09:05.750] [info] Received new action goal ×2 + 5.98sINFOros2_control_node[2026-09-18 13:09:05.750] [info] Accepted new action goal ×2
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	25 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501807 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501807 ms (missed cycles : 5).[0m ×2 + 1.09sWARNros2_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 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058369 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058369 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421419 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421419 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789736954.31231737 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414333 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414333 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789736954.98035502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789736955.06049991 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.37sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789736955.65668201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.51sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4).[0m ×2 + 6.51sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789736957.79683447 seconds ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7).[0m ×2 + 6.73sWARNros2_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	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	23 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789736955.65668201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5).[0m ×2 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789736957.79683447 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7).[0m ×2 + 2.41sWARNros2_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 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789736959.43728375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	0.0s	23 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789736955.65668201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5).[0m ×2 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789736957.79683447 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7).[0m ×2 + 2.41sWARNros2_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 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789736959.43728375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	23 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789736955.65668201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5).[0m ×2 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789736957.79683447 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7).[0m ×2 + 2.41sWARNros2_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 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789736959.43728375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	23 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789736955.65668201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5).[0m ×2 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789736957.79683447 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7).[0m ×2 + 2.41sWARNros2_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 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789736959.43728375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	23 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789736955.65668201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5).[0m ×2 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789736957.79683447 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7).[0m ×2 + 2.41sWARNros2_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 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789736959.43728375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	23 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789736955.65668201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5).[0m ×2 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789736957.79683447 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7).[0m ×2 + 2.41sWARNros2_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 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789736959.43728375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2).[0m ×2
− skipped	Move Along Square	move_along_square.xml	0.0s	23 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789736955.65668201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901527 ms (missed cycles : 5).[0m ×2 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:09:15.790] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207203 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789736957.79683447 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.133551 ms (missed cycles : 7).[0m ×2 + 2.41sWARNros2_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 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529226 ms (missed cycles : 6).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789736959.43728375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 13:09:19.845] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538873 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670943 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176549 ms (missed cycles : 2).[0m ×2
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	23 warnings · 84 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526439 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526439 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762999 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762999 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.912450 ms (missed cycles : 6). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.912450 ms (missed cycles : 6).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789737012.54889560 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.583983 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.583983 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.61sWARNros2_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 + 3.64sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789737013.16645479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.81sINFOros2_control_node[2026-09-18 13:10:13.330] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-18 13:10:13.330] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758905 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758905 ms (missed cycles : 4).[0m ×2 + 5.07sINFOobjective_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 + 5.08sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.17sINFOobjective_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 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704594 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704594 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775702 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775702 ms (missed cycles : 2).[0m ×2
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	22 warnings · 2122 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×339 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×339 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×678 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×678 + 0.57sWARNros2_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 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737079.19431686 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 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737079.91646743 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 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2).[0m ×2 + 6.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	0.0s	22 warnings · 2122 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×339 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×339 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×678 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×678 + 0.57sWARNros2_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 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737079.19431686 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 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737079.91646743 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 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2).[0m ×2 + 6.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	22 warnings · 2122 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×339 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×339 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×678 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×678 + 0.57sWARNros2_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 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737079.19431686 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 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737079.91646743 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 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2).[0m ×2 + 6.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	22 warnings · 2122 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×339 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×339 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×678 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×678 + 0.57sWARNros2_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 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696651 ms (missed cycles : 4).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741249 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702131 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737079.19431686 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 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754818 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737079.91646743 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 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 13:11:20.121] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678629 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956152 ms (missed cycles : 2).[0m ×2 + 6.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Canceling active goal... ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737090.31156707 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737091.00006485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5).[0m ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Canceling active goal... ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737090.31156707 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737091.00006485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5).[0m ×2
− skipped	Pick object	pick_object.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Canceling active goal... ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737090.31156707 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737091.00006485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5).[0m ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Canceling active goal... ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737090.31156707 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737091.00006485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5).[0m ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Canceling active goal... ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737090.31156707 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737091.00006485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5).[0m ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Canceling active goal... ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737090.31156707 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737091.00006485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5).[0m ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Canceling active goal... ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737090.31156707 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737091.00006485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5).[0m ×2
− skipped	Place Object	place_object.xml	0.0s	3 errors · 23 warnings · 82 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350442 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-18 13:11:27.606] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482052 ms (missed cycles : 6).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-09-18 13:11:29.240] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956101 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-09-18 13:11:30.296] [info] Canceling active goal... ×2 + 3.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737090.31156707 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920518 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737091.00006485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 13:11:31.185] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360979 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191779 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074547 ms (missed cycles : 5).[0m ×2
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	3 errors · 23 warnings · 61 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055505 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055505 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580439 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580439 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046830 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046830 ms (missed cycles : 3).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770467 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770467 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sERRORobjective_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: 1789737101.29052281 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789737101.88863468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.16sINFOros2_control_node[2026-09-18 13:11:42.213] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-18 13:11:42.213] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549362 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549362 ms (missed cycles : 5).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830636 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830636 ms (missed cycles : 4).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229129 ms (missed cycles : 6). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229129 ms (missed cycles : 6).[0m ×2
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	23 warnings · 64 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162889 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162889 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999511 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999511 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454410 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454410 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138974 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138974 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789737111.80507827 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789737112.45503068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sINFOros2_control_node[2026-09-18 13:11:52.579] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-18 13:11:52.579] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943573 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943573 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597737 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597737 ms (missed cycles : 5).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282152 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282152 ms (missed cycles : 3).[0m ×2
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	3 errors · 23 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099778 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4).[0m ×2 + 3.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sERRORobjective_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: 1789737122.79532814 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.96sINFOobjective_server_nodecaller: ×6 + 3.96sINFOobjective_server_nodetype: 0 ×6 + 3.96sINFOobjective_server_nodename: "" ×6 + 3.96sINFOobjective_server_nodeinstance_id: "" ×6 + 3.96sINFOobjective_server_node ×6 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737123.42245722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737123.51259065 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.64sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.67sWARNros2_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 + 4.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737124.11110687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_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 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737124.13354445 seconds ×3 + 5.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.29sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737124.76324153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.50sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Accepted new action goal ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7).[0m ×2
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 errors · 23 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099778 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4).[0m ×2 + 3.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sERRORobjective_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: 1789737122.79532814 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.96sINFOobjective_server_nodecaller: ×6 + 3.96sINFOobjective_server_nodetype: 0 ×6 + 3.96sINFOobjective_server_nodename: "" ×6 + 3.96sINFOobjective_server_nodeinstance_id: "" ×6 + 3.96sINFOobjective_server_node ×6 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737123.42245722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737123.51259065 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.64sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.67sWARNros2_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 + 4.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737124.11110687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_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 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737124.13354445 seconds ×3 + 5.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.29sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737124.76324153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.50sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Accepted new action goal ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7).[0m ×2
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 errors · 23 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099778 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4).[0m ×2 + 3.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sERRORobjective_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: 1789737122.79532814 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.96sINFOobjective_server_nodecaller: ×6 + 3.96sINFOobjective_server_nodetype: 0 ×6 + 3.96sINFOobjective_server_nodename: "" ×6 + 3.96sINFOobjective_server_nodeinstance_id: "" ×6 + 3.96sINFOobjective_server_node ×6 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737123.42245722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737123.51259065 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.64sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.67sWARNros2_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 + 4.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737124.11110687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_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 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737124.13354445 seconds ×3 + 5.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.29sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737124.76324153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.50sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Accepted new action goal ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7).[0m ×2
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 errors · 23 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099778 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004432 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4).[0m ×2 + 3.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sERRORobjective_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: 1789737122.79532814 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.96sINFOobjective_server_nodecaller: ×6 + 3.96sINFOobjective_server_nodetype: 0 ×6 + 3.96sINFOobjective_server_nodename: "" ×6 + 3.96sINFOobjective_server_nodeinstance_id: "" ×6 + 3.96sINFOobjective_server_node ×6 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737123.42245722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737123.51259065 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.64sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.67sWARNros2_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 + 4.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737124.11110687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_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 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737124.13354445 seconds ×3 + 5.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.29sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737124.76324153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.50sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Accepted new action goal ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7).[0m ×2
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	3 errors · 20 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sERRORobjective_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: 1789737122.79532814 seconds ×3 + 1.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.85sINFOobjective_server_nodecaller: ×6 + 1.86sINFOobjective_server_nodetype: 0 ×6 + 1.86sINFOobjective_server_nodename: "" ×6 + 1.86sINFOobjective_server_nodeinstance_id: "" ×6 + 1.86sINFOobjective_server_node ×6 + 1.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737123.42245722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737123.51259065 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.54sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737124.11110687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.62sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737124.13354445 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737124.76324153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.40sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956656 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956656 ms (missed cycles : 3).[0m ×2
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.0s	3 errors · 20 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sERRORobjective_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: 1789737122.79532814 seconds ×3 + 1.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.85sINFOobjective_server_nodecaller: ×6 + 1.86sINFOobjective_server_nodetype: 0 ×6 + 1.86sINFOobjective_server_nodename: "" ×6 + 1.86sINFOobjective_server_nodeinstance_id: "" ×6 + 1.86sINFOobjective_server_node ×6 + 1.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737123.42245722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737123.51259065 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.54sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737124.11110687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.62sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737124.13354445 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737124.76324153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.40sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956656 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956656 ms (missed cycles : 3).[0m ×2
− skipped	Select Region for Coverage Path	select_region_for_coverage_path.xml	0.0s	3 errors · 20 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168733 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906539 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sERRORobjective_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: 1789737122.79532814 seconds ×3 + 1.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.85sINFOobjective_server_nodecaller: ×6 + 1.86sINFOobjective_server_nodetype: 0 ×6 + 1.86sINFOobjective_server_nodename: "" ×6 + 1.86sINFOobjective_server_nodeinstance_id: "" ×6 + 1.86sINFOobjective_server_node ×6 + 1.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737123.42245722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737123.51259065 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884298 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.54sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737124.11110687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.62sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737124.13354445 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793181 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737124.76324153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.40sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 13:12:04.909] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.965963 ms (missed cycles : 7).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956656 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956656 ms (missed cycles : 3).[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 8.971997 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.971997 ms (missed cycles : 6).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670348 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670348 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626405 ms (missed cycles : 8). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626405 ms (missed cycles : 8).[0m ×2 + 2.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOros2_control_node[2026-09-18 13:12:14.793] [info] Got request to cancel active goal. ×2 + 2.64sINFOros2_control_node[2026-09-18 13:12:14.793] [info] Canceling active goal... ×2 + 2.65sERRORobjective_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: 1789737134.79794049 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.90sWARNros2_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.19sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.19sINFOobjective_server_nodecaller: ×6 + 3.19sINFOobjective_server_nodetype: 0 ×6 + 3.19sINFOobjective_server_nodename: "" ×6 + 3.19sINFOobjective_server_nodeinstance_id: "" ×6 + 3.19sINFOobjective_server_node ×6 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737135.39765382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737136.72454476 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.17sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737137.32306099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.17sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.18sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.18sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737137.32533765 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.83sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737138.03051591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737138.07154274 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 8.971997 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.971997 ms (missed cycles : 6).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670348 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670348 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626405 ms (missed cycles : 8). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626405 ms (missed cycles : 8).[0m ×2 + 2.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOros2_control_node[2026-09-18 13:12:14.793] [info] Got request to cancel active goal. ×2 + 2.64sINFOros2_control_node[2026-09-18 13:12:14.793] [info] Canceling active goal... ×2 + 2.65sERRORobjective_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: 1789737134.79794049 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.90sWARNros2_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.19sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.19sINFOobjective_server_nodecaller: ×6 + 3.19sINFOobjective_server_nodetype: 0 ×6 + 3.19sINFOobjective_server_nodename: "" ×6 + 3.19sINFOobjective_server_nodeinstance_id: "" ×6 + 3.19sINFOobjective_server_node ×6 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737135.39765382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069231 ms (missed cycles : 2).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214884 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737136.72454476 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.17sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737137.32306099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.17sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.18sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.18sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737137.32533765 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636530 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.83sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737138.03051591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737138.07154274 seconds ×3

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass8 skip

✓ passed	—	clear_snapshot.xml	7.1s	42 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/2026-09-18-13-07-43-249965-619e68df60af-7174 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582522 ms (missed cycles : 6). + 0.87sINFOros2_control_node-1process started with pid [7222] ×2 + 0.87sINFOmove_group-9process started with pid [7259] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7260] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7261] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7262] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7263] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7264] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7265] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7266] ×2 + 0.88sINFOexecute_objective_bridge-17process started with pid [7267] ×2 + 0.88sINFOui_teleop_bridge-18process started with pid [7268] ×2 + 0.88sINFOweb_bridge-19process started with pid [7269] ×2 + 0.88sINFOtf2_web_republisher_node-20process started with pid [7347] ×2 + 0.88sINFOvideo_server-21process started with pid [7348] ×2 + 0.88sINFOweb_bridge_auth_proxy-22process started with pid [7349] ×2 + 0.88sINFOweb_video_auth_proxy-23process started with pid [7350] ×2 + 0.88sINFOros2-2process started with pid [7223] ×2 + 0.88sINFOros2-3process started with pid [7224] ×2 + 0.88sINFOros2-4process started with pid [7225] ×2 + 0.88sINFOros2-5process started with pid [7226] ×2 + 0.88sINFOros2-6process started with pid [7227] ×2 + 0.88sINFOros2-7process started with pid [7228] ×2 + 0.88sINFOros2-8process started with pid [7229] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.88sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.88sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.88sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.88sWARNros2_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 + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582522 ms (missed cycles : 6).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.13sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.23sINFOvideo_server2026/09/18 13:07:44 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.23sINFOvideo_server2026/09/18 13:07:44 INF configuration loaded from /tmp/moveit-webrtc-oa12n8ts/mediamtx.yml ×2 + 1.23sINFOvideo_server2026/09/18 13:07:44 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.23sINFOvideo_server2026/09/18 13:07:44 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.64sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.64sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.74sINFOmove_group[2026-09-18 13:07:45.378] [moveit_pro_license] [info] ×2 + 1.74sINFOmove_group************************************************* ×4 + 1.74sINFOmove_group* MoveIt Pro License ×2 + 1.74sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.98sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.03sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.03sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.03sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.03sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.04sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.04sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.04sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.04sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.06sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.06sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.16sINFOmove_group ×4 + 2.16sINFOmove_group[92mYou can start planning now![0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.467255 ms (missed cycles : 6). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.467255 ms (missed cycles : 6).[0m ×2 + 2.30sINFOwaypoint_manager_node[2026-09-18 13:07:45.934] [moveit_pro_license] [info] ×2 + 2.30sINFOwaypoint_manager_node************************************************* ×4 + 2.30sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.30sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.40sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.52sINFOobjective_server_node[2026-09-18 13:07:47.157] [moveit_pro_license] [info] ×2 + 3.52sINFOobjective_server_node************************************************* ×4 + 3.52sINFOobjective_server_node* MoveIt Pro License ×2 + 3.52sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.64sINFOobjective_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 + 3.64sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.65sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.93sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.93sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.93sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.93sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.93sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.93sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.93sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.93sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.93sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.93sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.93sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.93sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.93sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.93sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.93sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.93sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.93sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.93sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.93sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.93sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.93sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.93sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.93sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.93sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.93sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.93sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.93sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.93sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.93sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.93sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.93sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.01sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.01sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.14sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.14sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.14sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.14sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.33sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 4.33sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 4.35sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.35sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.35sINFOros2_control_node[2026-09-18 13:07:47.984] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.35sINFOros2_control_node[2026-09-18 13:07:47.984] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.35sINFOcomponent_container_mt[2026-09-18 13:07:47.986] [moveit_pro_license] [info] ×2 + 4.35sINFOcomponent_container_mt************************************************* ×4 + 4.35sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.35sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.36sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.38sINFOros2_control_node[2026-09-18 13:07:48.010] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.38sINFOros2_control_node[2026-09-18 13:07:48.010] [info] Controller state will be published at 50 Hz. ×2 + 4.38sINFOros2_control_node[2026-09-18 13:07:48.018] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.48sINFOros2_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 + 4.48sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.48sWARNros2_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 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101796 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101796 ms (missed cycles : 2).[0m ×2 + 4.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.64sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.64sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.64sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.64sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 4.64sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 4.70sINFOros2-6process has finished cleanly [pid 7227] ×2 + 4.71sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.71sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.74sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.74sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.99sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.99sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.99sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.99sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 5.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 5.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.04sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.04sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.04sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.04sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.04sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.04sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.05sINFOros2-5process has finished cleanly [pid 7226] ×2 + 5.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.38sINFOros2-3process has finished cleanly [pid 7224] ×2 + 5.43sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 5.43sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 5.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.48sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.48sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.48sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.51sINFOros2_control_node[2026-09-18 13:07:49.139] [info] Controller state will be published at 20 Hz. ×2 + 5.51sINFOros2_control_node[2026-09-18 13:07:49.140] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103498 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103498 ms (missed cycles : 2).[0m ×2 + 5.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 5.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 5.85sINFOros2-8process has finished cleanly [pid 7229] ×2 + 5.85sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.85sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.85sWARNobjective_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 + 5.86sINFOforce_torque_sensor_broadcasterconfigure successful + 5.86sINFOros2_control_nodeconfigure successful[0m ×2 + 5.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.86sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.86sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.86sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.92sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.08sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.18sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 6.18sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 6.21sINFOros2-2process has finished cleanly [pid 7223] ×2 + 6.22sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.22sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.22sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.22sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.22sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.22sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.23sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.23sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.23sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.23sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.56sINFOros2-4process has finished cleanly [pid 7225] ×2 + 6.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.62sINFOobjective_server_nodecaller: ×10 + 6.62sINFOobjective_server_nodetype: 0 ×10 + 6.62sINFOobjective_server_nodename: "" ×10 + 6.62sINFOobjective_server_nodeinstance_id: "" ×10 + 6.62sINFOobjective_server_node ×10 + 6.64sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 6.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 6.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789736870.31105614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789736870.32129502 seconds ×3 + 6.71sINFOros2_control_node[2026-09-18 13:07:50.341] [info] Controller state will be published at 10 Hz. ×2 + 6.71sINFOros2_control_node[2026-09-18 13:07:50.342] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.04sINFOros2-7process has finished cleanly [pid 7228] ×2 + 7.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789736870.93333745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2).[0m ×2 + 8.10sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 8.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 9.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 10.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 10.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2
✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 410 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 + 0.03sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.03sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789736870.31105614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789736870.32129502 seconds ×3 + 0.09sINFOros2_control_node[2026-09-18 13:07:50.341] [info] Controller state will be published at 10 Hz. ×2 + 0.09sINFOros2_control_node[2026-09-18 13:07:50.342] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.42sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789736870.93333745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 4.02sWARNros2_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 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.09sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.23sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 7.34sINFOros2_control_nodeMuJoCo sim: 0.21% 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 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
✓ passed	—	reset_planning_scene.xml	0.7s	25 warnings · 465 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.21sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.21sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.21sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.22sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.22sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.22sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.24sINFOros2-2process has finished cleanly [pid 7223] ×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. + 0.26sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.26sINFOros2_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 + 0.27sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.27sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.60sINFOros2-4process has finished cleanly [pid 7225] ×2 + 0.60sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.60sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.61sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.61sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.65sINFOobjective_server_nodecaller: ×14 + 0.65sINFOobjective_server_nodetype: 0 ×14 + 0.65sINFOobjective_server_nodename: "" ×14 + 0.65sINFOobjective_server_nodeinstance_id: "" ×14 + 0.65sINFOobjective_server_node ×14 + 0.68sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.68sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789736870.31105614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.72sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.72sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.72sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.72sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789736870.32129502 seconds ×3 + 0.74sINFOros2_control_node[2026-09-18 13:07:50.341] [info] Controller state will be published at 10 Hz. ×2 + 0.74sINFOros2_control_node[2026-09-18 13:07:50.342] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.08sINFOros2-7process has finished cleanly [pid 7228] ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789736870.93333745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2).[0m ×2 + 2.14sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_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 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_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 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.89sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.1s	22 warnings · 322 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.27sINFOros2_control_node[2026-09-18 13:07:58.004] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-18 13:07:58.004] [info] Accepted new action goal ×2
− skipped	—	addtovector.xml	0.0s	9 warnings · 167 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/2026-09-18-13-07-43-249965-619e68df60af-7174 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582522 ms (missed cycles : 6). + 0.87sINFOros2_control_node-1process started with pid [7222] ×2 + 0.87sINFOmove_group-9process started with pid [7259] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7260] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7261] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7262] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7263] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7264] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7265] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7266] ×2 + 0.88sINFOexecute_objective_bridge-17process started with pid [7267] ×2 + 0.88sINFOui_teleop_bridge-18process started with pid [7268] ×2 + 0.88sINFOweb_bridge-19process started with pid [7269] ×2 + 0.88sINFOtf2_web_republisher_node-20process started with pid [7347] ×2 + 0.88sINFOvideo_server-21process started with pid [7348] ×2 + 0.88sINFOweb_bridge_auth_proxy-22process started with pid [7349] ×2 + 0.88sINFOweb_video_auth_proxy-23process started with pid [7350] ×2 + 0.88sINFOros2-2process started with pid [7223] ×2 + 0.88sINFOros2-3process started with pid [7224] ×2 + 0.88sINFOros2-4process started with pid [7225] ×2 + 0.88sINFOros2-5process started with pid [7226] ×2 + 0.88sINFOros2-6process started with pid [7227] ×2 + 0.88sINFOros2-7process started with pid [7228] ×2 + 0.88sINFOros2-8process started with pid [7229] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.88sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.88sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.88sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.88sWARNros2_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 + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582522 ms (missed cycles : 6).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.13sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.23sINFOvideo_server2026/09/18 13:07:44 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.23sINFOvideo_server2026/09/18 13:07:44 INF configuration loaded from /tmp/moveit-webrtc-oa12n8ts/mediamtx.yml ×2 + 1.23sINFOvideo_server2026/09/18 13:07:44 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.23sINFOvideo_server2026/09/18 13:07:44 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.64sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.64sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.74sINFOmove_group[2026-09-18 13:07:45.378] [moveit_pro_license] [info] ×2 + 1.74sINFOmove_group************************************************* ×4 + 1.74sINFOmove_group* MoveIt Pro License ×2 + 1.74sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.98sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.03sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.03sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.03sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.03sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.04sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.04sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.04sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.04sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.06sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.06sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.16sINFOmove_group ×4 + 2.16sINFOmove_group[92mYou can start planning now![0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.467255 ms (missed cycles : 6). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.467255 ms (missed cycles : 6).[0m ×2 + 2.30sINFOwaypoint_manager_node[2026-09-18 13:07:45.934] [moveit_pro_license] [info] ×2 + 2.30sINFOwaypoint_manager_node************************************************* ×4 + 2.30sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.30sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.40sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.52sINFOobjective_server_node[2026-09-18 13:07:47.157] [moveit_pro_license] [info] ×2 + 3.52sINFOobjective_server_node************************************************* ×4 + 3.52sINFOobjective_server_node* MoveIt Pro License ×2 + 3.52sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.64sINFOobjective_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 + 3.64sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	24 warnings · 519 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 7224] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-09-18 13:07:49.139] [info] Controller state will be published at 20 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-18 13:07:49.140] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103498 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103498 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.46sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7229] ×2 + 0.50sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.50sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.50sWARNobjective_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 + 0.50sINFOforce_torque_sensor_broadcasterconfigure successful + 0.50sINFOros2_control_nodeconfigure successful[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.51sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.51sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.51sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.57sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.73sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.83sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.83sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.83sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.85sINFOros2-2process has finished cleanly [pid 7223] ×2 + 0.86sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.86sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.88sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.21sINFOros2-4process has finished cleanly [pid 7225] ×2 + 1.22sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.22sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.22sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.26sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.26sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.26sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.26sINFOobjective_server_nodecaller: ×14 + 1.26sINFOobjective_server_nodetype: 0 ×14 + 1.26sINFOobjective_server_nodename: "" ×14 + 1.26sINFOobjective_server_nodeinstance_id: "" ×14 + 1.26sINFOobjective_server_node ×14 + 1.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 1.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789736870.31105614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.33sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789736870.32129502 seconds ×3 + 1.35sINFOros2_control_node[2026-09-18 13:07:50.341] [info] Controller state will be published at 10 Hz. ×2 + 1.36sINFOros2_control_node[2026-09-18 13:07:50.342] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.69sINFOros2-7process has finished cleanly [pid 7228] ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.95sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789736870.93333745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2).[0m ×2 + 2.75sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 5.28sWARNros2_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 + 5.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.50sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2
− skipped	—	createvector.xml	0.0s	24 warnings · 519 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 7224] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-09-18 13:07:49.139] [info] Controller state will be published at 20 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-18 13:07:49.140] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103498 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103498 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.46sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7229] ×2 + 0.50sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.50sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.50sWARNobjective_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 + 0.50sINFOforce_torque_sensor_broadcasterconfigure successful + 0.50sINFOros2_control_nodeconfigure successful[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.51sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.51sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.51sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.57sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.73sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.83sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.83sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.83sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.85sINFOros2-2process has finished cleanly [pid 7223] ×2 + 0.86sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.86sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.88sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.21sINFOros2-4process has finished cleanly [pid 7225] ×2 + 1.22sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.22sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.22sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.26sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.26sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.26sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.26sINFOobjective_server_nodecaller: ×14 + 1.26sINFOobjective_server_nodetype: 0 ×14 + 1.26sINFOobjective_server_nodename: "" ×14 + 1.26sINFOobjective_server_nodeinstance_id: "" ×14 + 1.26sINFOobjective_server_node ×14 + 1.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 1.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789736870.31105614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.33sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789736870.32129502 seconds ×3 + 1.35sINFOros2_control_node[2026-09-18 13:07:50.341] [info] Controller state will be published at 10 Hz. ×2 + 1.36sINFOros2_control_node[2026-09-18 13:07:50.342] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.69sINFOros2-7process has finished cleanly [pid 7228] ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.95sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789736870.93333745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2).[0m ×2 + 2.75sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 5.28sWARNros2_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 + 5.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.50sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	24 warnings · 519 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 7224] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-09-18 13:07:49.139] [info] Controller state will be published at 20 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-18 13:07:49.140] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103498 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103498 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.46sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7229] ×2 + 0.50sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.50sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.50sWARNobjective_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 + 0.50sINFOforce_torque_sensor_broadcasterconfigure successful + 0.50sINFOros2_control_nodeconfigure successful[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.51sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.51sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.51sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.57sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.73sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.83sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.83sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.83sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.85sINFOros2-2process has finished cleanly [pid 7223] ×2 + 0.86sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.86sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.88sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.21sINFOros2-4process has finished cleanly [pid 7225] ×2 + 1.22sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.22sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.22sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.26sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.26sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.26sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.26sINFOobjective_server_nodecaller: ×14 + 1.26sINFOobjective_server_nodetype: 0 ×14 + 1.26sINFOobjective_server_nodename: "" ×14 + 1.26sINFOobjective_server_nodeinstance_id: "" ×14 + 1.26sINFOobjective_server_node ×14 + 1.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 1.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789736870.31105614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.33sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789736870.32129502 seconds ×3 + 1.35sINFOros2_control_node[2026-09-18 13:07:50.341] [info] Controller state will be published at 10 Hz. ×2 + 1.36sINFOros2_control_node[2026-09-18 13:07:50.342] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.69sINFOros2-7process has finished cleanly [pid 7228] ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.95sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789736870.93333745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2).[0m ×2 + 2.75sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 5.28sWARNros2_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 + 5.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.50sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2
− skipped	—	request_teleoperation.xml	0.0s	22 warnings · 465 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.21sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.21sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.21sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.22sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.22sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.22sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.24sINFOros2-2process has finished cleanly [pid 7223] ×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. + 0.26sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.26sINFOros2_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 + 0.27sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.27sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.60sINFOros2-4process has finished cleanly [pid 7225] ×2 + 0.60sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.60sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.61sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.61sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.65sINFOobjective_server_nodecaller: ×14 + 0.65sINFOobjective_server_nodetype: 0 ×14 + 0.65sINFOobjective_server_nodename: "" ×14 + 0.65sINFOobjective_server_nodeinstance_id: "" ×14 + 0.65sINFOobjective_server_node ×14 + 0.68sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.68sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789736870.31105614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.72sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.72sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.72sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.72sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789736870.32129502 seconds ×3 + 0.74sINFOros2_control_node[2026-09-18 13:07:50.341] [info] Controller state will be published at 10 Hz. ×2 + 0.74sINFOros2_control_node[2026-09-18 13:07:50.342] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.08sINFOros2-7process has finished cleanly [pid 7228] ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789736870.93333745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2).[0m ×2 + 2.14sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_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 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_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 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.89sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2
− skipped	—	teleoperate.xml	0.0s	25 warnings · 398 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 + 0.03sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c + 0.03sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mrtiitis --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jkldjxmt --params-file /tmp/launch_params_745wpb1c [0m ×2 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789736870.31105614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789736870.32129502 seconds ×3 + 0.09sINFOros2_control_node[2026-09-18 13:07:50.341] [info] Controller state will be published at 10 Hz. ×2 + 0.09sINFOros2_control_node[2026-09-18 13:07:50.342] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.42sINFOros2-7process has finished cleanly [pid 7228] ×2 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789736870.93333745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743623 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 4.02sWARNros2_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 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.09sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.23sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	move_to_joint_state.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	move_to_pose.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	move_to_waypoint.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	track_moving_frame.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 322 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.27sINFOros2_control_node[2026-09-18 13:07:58.004] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-18 13:07:58.004] [info] Accepted new action goal ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774119 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774119 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

8 skip

− skipped	—	capture_calibration_sample.xml	0.0s	22 warnings · 322 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.27sINFOros2_control_node[2026-09-18 13:07:58.004] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-18 13:07:58.004] [info] Accepted new action goal ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	collect_calibration_samples.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2
− skipped	—	visualize_tf.xml	0.0s	22 warnings · 318 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789736871.84348416 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287771 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789736872.47160816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789736872.53175855 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.590365 ms (missed cycles : 8).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736873.19191718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736873.21205473 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736873.81102538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736873.96227860 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182314 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736874.68397141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736874.73413277 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508117 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789736875.33712387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.1049e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-18 13:07:55.484] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122958 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538668 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2