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	163 warnings · 18966 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455444 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455444 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.883060 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.883060 ms (missed cycles : 6).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504273 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504273 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789737449.53645587 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412216 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412216 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_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: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789737450.15711975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.51sINFOros2_control_node[2026-09-18 13:17:30.321] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-18 13:17:30.321] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809972 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809972 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927390 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927390 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449782 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449782 ms (missed cycles : 2).[0m ×2 + 6.99sWARNros2_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 + 7.00sINFOjoint_trajectory_controllerReceived new action goal ×3117 + 7.00sINFOjoint_trajectory_controllerAccepted new action goal ×3117 + 7.00sINFOros2_control_nodeReceived new action goal[0m ×6234 + 7.00sINFOros2_control_nodeAccepted new action goal[0m ×6234 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.214127 ms (missed cycles : 7). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.214127 ms (missed cycles : 7).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110134 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110134 ms (missed cycles : 2).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974799 ms (missed cycles : 5). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974799 ms (missed cycles : 5).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507275 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507275 ms (missed cycles : 3).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294850 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294850 ms (missed cycles : 2).[0m ×2 + 11.86sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.86sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.86sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831627 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831627 ms (missed cycles : 2).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966811 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966811 ms (missed cycles : 2).[0m ×2 + 14.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×4 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698426 ms (missed cycles : 2). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698426 ms (missed cycles : 2).[0m ×2 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206874 ms (missed cycles : 2). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206874 ms (missed cycles : 2).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766164 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766164 ms (missed cycles : 2).[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314130 ms (missed cycles : 2). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314130 ms (missed cycles : 2).[0m ×2 + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.562129 ms (missed cycles : 6). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.562129 ms (missed cycles : 6).[0m ×2 + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.964031 ms (missed cycles : 5). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.964031 ms (missed cycles : 5).[0m ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952146 ms (missed cycles : 2). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952146 ms (missed cycles : 2).[0m ×2 + 21.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.74 s); wrist_camera (1.74 s). The render path has stopped producing new frames for them.[0m ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673768 ms (missed cycles : 2). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673768 ms (missed cycles : 2).[0m ×2 + 22.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012554 ms (missed cycles : 2). + 22.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012554 ms (missed cycles : 2).[0m ×2 + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928415 ms (missed cycles : 2). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928415 ms (missed cycles : 2).[0m ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114793 ms (missed cycles : 2). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114793 ms (missed cycles : 2).[0m ×2 + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925142 ms (missed cycles : 2). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925142 ms (missed cycles : 2).[0m ×2 + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960603 ms (missed cycles : 2). + 26.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960603 ms (missed cycles : 2).[0m ×2 + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379774 ms (missed cycles : 2). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379774 ms (missed cycles : 2).[0m ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815756 ms (missed cycles : 2). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815756 ms (missed cycles : 2).[0m ×2 + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709081 ms (missed cycles : 2). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709081 ms (missed cycles : 2).[0m ×2 + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284145 ms (missed cycles : 2). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284145 ms (missed cycles : 2).[0m ×2 + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792786 ms (missed cycles : 3). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792786 ms (missed cycles : 3).[0m ×2 + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963993 ms (missed cycles : 3). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963993 ms (missed cycles : 3).[0m ×2 + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096445 ms (missed cycles : 2). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096445 ms (missed cycles : 2).[0m ×2 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.490983 ms (missed cycles : 6). + 35.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.490983 ms (missed cycles : 6).[0m ×2 + 36.05sWARNros2_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 + 36.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083650 ms (missed cycles : 3). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083650 ms (missed cycles : 3).[0m ×2 + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766488 ms (missed cycles : 2). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766488 ms (missed cycles : 2).[0m ×2 + 38.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743688 ms (missed cycles : 3). + 38.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743688 ms (missed cycles : 3).[0m ×2 + 39.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821562 ms (missed cycles : 2). + 39.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821562 ms (missed cycles : 2).[0m ×2 + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419266 ms (missed cycles : 2). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419266 ms (missed cycles : 2).[0m ×2 + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482502 ms (missed cycles : 2). + 41.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482502 ms (missed cycles : 2).[0m ×2 + 42.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996720 ms (missed cycles : 2). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996720 ms (missed cycles : 2).[0m ×2 + 43.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744908 ms (missed cycles : 3). + 43.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744908 ms (missed cycles : 3).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757889 ms (missed cycles : 3). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757889 ms (missed cycles : 3).[0m ×2 + 45.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524472 ms (missed cycles : 4). + 45.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524472 ms (missed cycles : 4).[0m ×2 + 46.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742064 ms (missed cycles : 2). + 46.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742064 ms (missed cycles : 2).[0m ×2 + 47.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737494.04956818 seconds ×3 + 47.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.78sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.545425 ms (missed cycles : 6). + 47.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.545425 ms (missed cycles : 6).[0m ×2 + 47.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789737494.69212365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.02sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 48.03sINFOros2_control_node[2026-09-18 13:18:14.845] [info] Received new action goal ×2 + 48.03sINFOros2_control_node[2026-09-18 13:18:14.845] [info] Accepted new action goal ×2 + 48.74sWARNros2_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 + 48.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975276 ms (missed cycles : 5). + 48.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975276 ms (missed cycles : 5).[0m ×2 + 49.09sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 50.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446977 ms (missed cycles : 2). + 50.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446977 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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737392.73357272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Accepted new action goal ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4).[0m ×2 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737394.86370540 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737396.51223183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.85sINFOros2_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 + 3.93sINFOobjective_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 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108765 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108765 ms (missed cycles : 2).[0m ×2 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 7.14sINFOros2_control_node[2026-09-18 13:16:39.807] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-09-18 13:16:39.807] [info] Accepted new action goal ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332682 ms (missed cycles : 7). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332682 ms (missed cycles : 7).[0m ×2 + 8.78sWARNros2_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 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684347 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684347 ms (missed cycles : 2).[0m ×2 + 10.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.27sINFOros2_control_node[2026-09-18 13:16:42.936] [info] Received new action goal ×2 + 10.27sINFOros2_control_node[2026-09-18 13:16:42.936] [info] Accepted new action goal ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361414 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361414 ms (missed cycles : 2).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157082 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157082 ms (missed cycles : 2).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456174 ms (missed cycles : 2). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456174 ms (missed cycles : 2).[0m ×2 + 13.25sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 13.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.30sINFOros2_control_node[2026-09-18 13:16:45.970] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-09-18 13:16:45.970] [info] Accepted new action goal ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246635 ms (missed cycles : 4). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246635 ms (missed cycles : 4).[0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597996 ms (missed cycles : 6). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597996 ms (missed cycles : 6).[0m ×2 + 14.80sWARNros2_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 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036173 ms (missed cycles : 3). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036173 ms (missed cycles : 3).[0m ×2 + 16.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.27sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.27sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.27sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.27sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019595 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019595 ms (missed cycles : 2).[0m ×2 + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914619 ms (missed cycles : 2). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914619 ms (missed cycles : 2).[0m ×2 + 19.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359432 ms (missed cycles : 6). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359432 ms (missed cycles : 6).[0m ×2 + 19.81sWARNros2_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 ×4 + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.718522 ms (missed cycles : 5). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.718522 ms (missed cycles : 5).[0m ×2 + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432235 ms (missed cycles : 3). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432235 ms (missed cycles : 3).[0m ×2 + 22.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864560 ms (missed cycles : 5). + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864560 ms (missed cycles : 5).[0m ×2 + 23.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.13sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.13sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.13sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.13sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.504632 ms (missed cycles : 9). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.504632 ms (missed cycles : 9).[0m ×2 + 24.05sINFOros2_control_node[2026-09-18 13:16:56.720] [info] Received new action goal ×2 + 24.05sINFOros2_control_node[2026-09-18 13:16:56.720] [info] Accepted new action goal ×2 + 24.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985810 ms (missed cycles : 2). + 24.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985810 ms (missed cycles : 2).[0m ×2 + 25.22sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.23sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.50sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 25.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.54sINFOros2_control_node[2026-09-18 13:16:58.213] [info] Received new action goal ×2 + 25.54sINFOros2_control_node[2026-09-18 13:16:58.213] [info] Accepted new action goal ×2 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967849 ms (missed cycles : 3). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967849 ms (missed cycles : 3).[0m ×2 + 25.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027477 ms (missed cycles : 4). + 26.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027477 ms (missed cycles : 4).[0m ×2 + 27.69sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 27.69sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.70sINFOros2_control_node[2026-09-18 13:17:00.371] [info] Received new action goal ×2 + 27.70sINFOros2_control_node[2026-09-18 13:17:00.371] [info] Accepted new action goal ×2 + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768487 ms (missed cycles : 2). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768487 ms (missed cycles : 2).[0m ×2 + 28.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996868 ms (missed cycles : 2). + 28.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996868 ms (missed cycles : 2).[0m ×2 + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194972 ms (missed cycles : 2). + 29.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194972 ms (missed cycles : 2).[0m ×2 + 30.74sINFOros2_control_node[2026-09-18 13:17:03.410] [info] Received new action goal ×2 + 30.74sINFOros2_control_node[2026-09-18 13:17:03.410] [info] Accepted new action goal ×2 + 31.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222187 ms (missed cycles : 3). + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222187 ms (missed cycles : 3).[0m ×2 + 32.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245180 ms (missed cycles : 5). + 32.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245180 ms (missed cycles : 5).[0m ×2 + 33.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582580 ms (missed cycles : 2). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582580 ms (missed cycles : 2).[0m ×2 + 33.33sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 33.34sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.39sINFOros2_control_node[2026-09-18 13:17:06.064] [info] Received new action goal ×2 + 33.39sINFOros2_control_node[2026-09-18 13:17:06.064] [info] Accepted new action goal ×2 + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570725 ms (missed cycles : 3). + 34.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570725 ms (missed cycles : 3).[0m ×2 + 35.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257733 ms (missed cycles : 2). + 35.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257733 ms (missed cycles : 2).[0m ×2 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874603 ms (missed cycles : 2). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874603 ms (missed cycles : 2).[0m ×2 + 37.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751365 ms (missed cycles : 3). + 37.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751365 ms (missed cycles : 3).[0m ×2 + 38.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019748 ms (missed cycles : 5). + 38.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019748 ms (missed cycles : 5).[0m ×2 + 38.90sWARNros2_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 + 39.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652755 ms (missed cycles : 2). + 39.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652755 ms (missed cycles : 2).[0m ×2 + 40.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872693 ms (missed cycles : 2). + 40.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872693 ms (missed cycles : 2).[0m ×2 + 41.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687946 ms (missed cycles : 2). + 41.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687946 ms (missed cycles : 2).[0m ×2 + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.148200 ms (missed cycles : 5). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.148200 ms (missed cycles : 5).[0m ×2 + 43.23sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939622 ms (missed cycles : 3). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939622 ms (missed cycles : 3).[0m ×2 + 44.11sINFOros2_control_node[2026-09-18 13:17:16.782] [info] Received new action goal ×2 + 44.11sINFOros2_control_node[2026-09-18 13:17:16.782] [info] Accepted new action goal ×2 + 45.05sWARNros2_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 + 45.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615558 ms (missed cycles : 2). + 45.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615558 ms (missed cycles : 2).[0m ×2 + 45.27sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789737437.93853784 seconds ×3 + 45.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Push Button" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 45.87sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.05sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789737438.72428918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101116 ms (missed cycles : 2). + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101116 ms (missed cycles : 2).[0m ×2 + 47.07sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 47.09sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.11sINFOros2_control_node[2026-09-18 13:17:19.779] [info] Received new action goal ×2 + 47.11sINFOros2_control_node[2026-09-18 13:17:19.779] [info] Accepted new action goal ×2 + 47.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144291 ms (missed cycles : 3). + 47.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144291 ms (missed cycles : 3).[0m ×2 + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256468 ms (missed cycles : 3). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256468 ms (missed cycles : 3).[0m ×2
✓ passed	MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml	22.1s	89 warnings · 13518 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2220 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2220 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4440 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4440 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757889 ms (missed cycles : 3). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757889 ms (missed cycles : 3).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524472 ms (missed cycles : 4). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524472 ms (missed cycles : 4).[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742064 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742064 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737494.04956818 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.545425 ms (missed cycles : 6). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.545425 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789737494.69212365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.07sINFOros2_control_node[2026-09-18 13:18:14.845] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-18 13:18:14.845] [info] Accepted new action goal ×2 + 4.77sWARNros2_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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975276 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975276 ms (missed cycles : 5).[0m ×2 + 5.13sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.37sINFOobjective_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 + 5.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446977 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446977 ms (missed cycles : 2).[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291722 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291722 ms (missed cycles : 2).[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718679 ms (missed cycles : 2). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718679 ms (missed cycles : 2).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016000 ms (missed cycles : 3). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016000 ms (missed cycles : 3).[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601250 ms (missed cycles : 7). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.601250 ms (missed cycles : 7).[0m ×2 + 11.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284535 ms (missed cycles : 2). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284535 ms (missed cycles : 2).[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702947 ms (missed cycles : 2). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702947 ms (missed cycles : 2).[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768682 ms (missed cycles : 3). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768682 ms (missed cycles : 3).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.864359 ms (missed cycles : 6). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.864359 ms (missed cycles : 6).[0m ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084941 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084941 ms (missed cycles : 3).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942688 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942688 ms (missed cycles : 2).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553465 ms (missed cycles : 4). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553465 ms (missed cycles : 4).[0m ×2 + 18.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×4 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774012 ms (missed cycles : 2). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774012 ms (missed cycles : 2).[0m ×2 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328179 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328179 ms (missed cycles : 2).[0m ×2 + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225501 ms (missed cycles : 2). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225501 ms (missed cycles : 2).[0m ×2 + 21.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933418 ms (missed cycles : 2). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933418 ms (missed cycles : 2).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2).[0m ×2 + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2).[0m ×2 + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2).[0m ×2 + 25.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737516.18250871 seconds ×3 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3).[0m ×2 + 26.02sINFOobjective_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: "" + 26.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737516.90110254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.31sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 26.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.32sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Received new action goal ×2 + 26.32sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Accepted new action goal ×2 + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4).[0m ×2 + 28.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2). + 28.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2).[0m ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	12.0s	3 errors · 62 warnings · 239 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 0.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00322126 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.40sINFOros2_control_node[2026-09-18 13:16:16.761] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-18 13:16:16.761] [info] Accepted new action goal ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003975 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003975 ms (missed cycles : 5).[0m ×2 + 0.84sINFOros2_control_node[2026-09-18 13:16:17.193] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-18 13:16:17.193] [info] Accepted new action goal ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438167 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438167 ms (missed cycles : 2).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306771 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306771 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_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 + 2.97sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.97sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.97sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.00sERRORobjective_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: 1789737379.36225057 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231061 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231061 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.79sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789737380.15127444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.97sINFOros2_control_node[2026-09-18 13:16:20.325] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-18 13:16:20.325] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624283 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624283 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261303 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261303 ms (missed cycles : 2).[0m ×2 + 6.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sINFOros2_control_node[2026-09-18 13:16:22.831] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-18 13:16:22.831] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954938 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954938 ms (missed cycles : 3).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750611 ms (missed cycles : 2). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750611 ms (missed cycles : 2).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646368 ms (missed cycles : 4). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646368 ms (missed cycles : 4).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745711 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745711 ms (missed cycles : 3).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364173 ms (missed cycles : 4). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364173 ms (missed cycles : 4).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722525 ms (missed cycles : 7). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722525 ms (missed cycles : 7).[0m ×2 + 12.12sWARNros2_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 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.353981 ms (missed cycles : 6). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.353981 ms (missed cycles : 6).[0m ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118702 ms (missed cycles : 4). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118702 ms (missed cycles : 4).[0m ×2 + 15.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789737391.39378452 seconds ×3 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117847 ms (missed cycles : 4). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117847 ms (missed cycles : 4).[0m ×2 + 15.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.65sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789737392.06000948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.76sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789737392.12015343 seconds ×3 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420469 ms (missed cycles : 5). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420469 ms (missed cycles : 5).[0m ×2 + 16.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 16.31sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737392.73357272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.49sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 16.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.50sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Received new action goal ×2 + 16.50sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Accepted new action goal ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2).[0m ×2 + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4).[0m ×2 + 18.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 18.51sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737394.86370540 seconds ×3
✓ passed	Push Button	move_with_velocity_and_force.xml	11.5s	57 warnings · 222 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.148200 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.148200 ms (missed cycles : 5).[0m ×2 + 0.19sINFOobjective_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 + 0.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.19sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.19sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.19sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.19sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939622 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939622 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.11sINFOros2_control_node[2026-09-18 13:17:16.782] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-18 13:17:16.782] [info] Accepted new action goal ×2 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615558 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615558 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789737437.93853784 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Push Button" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789737438.72428918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101116 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101116 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.11sINFOros2_control_node[2026-09-18 13:17:19.779] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-18 13:17:19.779] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144291 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144291 ms (missed cycles : 3).[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256468 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256468 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587940 ms (missed cycles : 4). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587940 ms (missed cycles : 4).[0m ×2 + 7.80sINFOobjective_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 + 7.81sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.81sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.81sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.81sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294268 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294268 ms (missed cycles : 2).[0m ×2 + 7.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421752 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421752 ms (missed cycles : 2).[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332166 ms (missed cycles : 2). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332166 ms (missed cycles : 2).[0m ×2 + 10.23sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.25sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.26sINFOros2_control_node[2026-09-18 13:17:25.930] [info] Received new action goal ×2 + 10.26sINFOros2_control_node[2026-09-18 13:17:25.930] [info] Accepted new action goal ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455444 ms (missed cycles : 4). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455444 ms (missed cycles : 4).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.883060 ms (missed cycles : 6). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.883060 ms (missed cycles : 6).[0m ×2 + 13.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504273 ms (missed cycles : 2). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504273 ms (missed cycles : 2).[0m ×2 + 13.87sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789737449.53645587 seconds ×3 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412216 ms (missed cycles : 2). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412216 ms (missed cycles : 2).[0m ×2 + 14.42sINFOobjective_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: "" + 14.42sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789737450.15711975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.64sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 14.64sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.65sINFOros2_control_node[2026-09-18 13:17:30.321] [info] Received new action goal ×2 + 14.65sINFOros2_control_node[2026-09-18 13:17:30.321] [info] Accepted new action goal ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809972 ms (missed cycles : 2). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809972 ms (missed cycles : 2).[0m ×2 + 15.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 15.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927390 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927390 ms (missed cycles : 2).[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449782 ms (missed cycles : 2). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449782 ms (missed cycles : 2).[0m ×2
✓ passed	Stationary Admittance	stationary_admittance.xml	11.2s	6 errors · 60 warnings · 388 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2).[0m ×2 + 1.98sINFOobjective_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 + 1.99sERRORobjective_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: 1789737559.72234654 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.56sINFOobjective_server_nodecaller: ×12 + 2.56sINFOobjective_server_nodetype: 0 ×12 + 2.56sINFOobjective_server_nodename: "" ×12 + 2.56sINFOobjective_server_nodeinstance_id: "" ×12 + 2.56sINFOobjective_server_node ×12 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737560.35147905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737560.43161964 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.30sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737561.02929544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_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 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737561.05194759 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737561.75286055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4).[0m ×2 + 5.18sWARNros2_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 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860243 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860243 ms (missed cycles : 6).[0m ×2 + 7.44sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.44sINFOros2_control_node[2026-09-18 13:19:25.176] [info] Received new action goal ×2 + 7.44sINFOros2_control_node[2026-09-18 13:19:25.176] [info] Accepted new action goal ×2 + 7.44sINFOros2_control_node[2026-09-18 13:19:25.176] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078643 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078643 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357776 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357776 ms (missed cycles : 2).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191630 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191630 ms (missed cycles : 2).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716787 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716787 ms (missed cycles : 2).[0m ×2 + 11.70sWARNros2_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 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369777 ms (missed cycles : 4). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369777 ms (missed cycles : 4).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296231 ms (missed cycles : 8). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296231 ms (missed cycles : 8).[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341105 ms (missed cycles : 6). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341105 ms (missed cycles : 6).[0m ×2 + 14.49sINFOros2_control_node[2026-09-18 13:19:32.223] [info] Got request to cancel active goal. ×2 + 14.49sINFOros2_control_node[2026-09-18 13:19:32.223] [info] Canceling active goal... ×2 + 14.49sERRORobjective_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: 1789737572.22729158 seconds ×3 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2).[0m ×2 + 15.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.04sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 15.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737572.84253573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2).[0m ×2 + 16.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737574.16267252 seconds ×3 + 16.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 16.97sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 17.06sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737574.79250002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.06sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.06sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 17.06sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.06sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737574.79515839 seconds ×3 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2).[0m ×2 + 17.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 17.67sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737575.46665478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737575.47734857 seconds ×3 + 17.96sWARNros2_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
✓ passed	3 Waypoints Pick and Place with AprilTags	3_waypoint_pick_and_place_apriltags.xml	11.1s	6 errors · 52 warnings · 204 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.612774 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.612774 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017814 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017814 ms (missed cycles : 6).[0m ×2 + 2.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718230 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718230 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 2.14sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.15sINFOros2_control_node[2026-09-18 13:15:22.731] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-09-18 13:15:22.731] [info] Accepted new action goal ×2 + 2.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.64sINFOros2_control_node[2026-09-18 13:15:23.227] [info] Got request to cancel active goal. ×2 + 2.64sINFOros2_control_node[2026-09-18 13:15:23.227] [info] Canceling active goal... ×2 + 2.66sERRORobjective_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: 1789737323.24265456 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552227 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552227 ms (missed cycles : 7).[0m ×2 + 3.20sINFOobjective_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: "" + 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.20sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.20sINFOobjective_server_nodecaller: ×6 + 3.20sINFOobjective_server_nodetype: 0 ×6 + 3.20sINFOobjective_server_nodename: "" ×6 + 3.20sINFOobjective_server_nodeinstance_id: "" ×6 + 3.20sINFOobjective_server_node ×6 + 3.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789737323.86335468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.50sINFOros2_control_node[2026-09-18 13:15:24.077] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-18 13:15:24.077] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806636 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806636 ms (missed cycles : 2).[0m ×2 + 5.02sWARNros2_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 ×4 + 5.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.137426 ms (missed cycles : 9). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.137426 ms (missed cycles : 9).[0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.77sINFOros2_control_node[2026-09-18 13:15:26.357] [info] Received new action goal ×2 + 5.77sINFOros2_control_node[2026-09-18 13:15:26.357] [info] Accepted new action goal ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.379800 ms (missed cycles : 7). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.379800 ms (missed cycles : 7).[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.044704 ms (missed cycles : 7). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.044704 ms (missed cycles : 7).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010895 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010895 ms (missed cycles : 2).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772075 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772075 ms (missed cycles : 3).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5).[0m ×2 + 13.74sERRORobjective_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: 1789737334.32391214 seconds ×3 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2).[0m ×2 + 14.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.35sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737334.98806286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737335.07819319 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2).[0m ×2 + 15.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.07sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737335.71437740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.32sINFOobjective_server_nodeFound path in 0 iterations (1.45e-07 s). ×2 + 15.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.33sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Received new action goal ×2 + 15.33sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Accepted new action goal ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5).[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3).[0m ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.0s	9 errors · 60 warnings · 212 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873627 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873627 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323969 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323969 ms (missed cycles : 4).[0m ×2 + 1.72sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 2.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 2.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 2.00sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789737367.44621825 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021593 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021593 ms (missed cycles : 2).[0m ×2 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382036 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382036 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Using Yaml" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789737368.95447087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.73sINFOros2_control_node[2026-09-18 13:16:09.158] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-18 13:16:09.158] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914157 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914157 ms (missed cycles : 2).[0m ×2 + 4.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646943 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646943 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.119458 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.119458 ms (missed cycles : 5).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485773 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485773 ms (missed cycles : 2).[0m ×2 + 7.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.39sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.82sINFOobjective_server_nodeFound path in 5 iterations (0.00654792 s). ×2 + 7.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.95sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929379 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929379 ms (missed cycles : 2).[0m ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.49sINFOros2_control_node[2026-09-18 13:16:13.912] [info] Received new action goal ×2 + 8.49sINFOros2_control_node[2026-09-18 13:16:13.912] [info] Accepted new action goal ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678380 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678380 ms (missed cycles : 3).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759865 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759865 ms (missed cycles : 2).[0m ×2 + 10.48sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 10.93sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 10.94sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 10.94sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 10.95sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 11.00sWARNros2_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 + 11.08sINFOobjective_server_nodeFound path in 1 iterations (0.00322126 s). ×2 + 11.26sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.34sINFOros2_control_node[2026-09-18 13:16:16.761] [info] Received new action goal ×2 + 11.34sINFOros2_control_node[2026-09-18 13:16:16.761] [info] Accepted new action goal ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003975 ms (missed cycles : 5). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003975 ms (missed cycles : 5).[0m ×2 + 11.77sINFOros2_control_node[2026-09-18 13:16:17.193] [info] Received new action goal ×2 + 11.77sINFOros2_control_node[2026-09-18 13:16:17.193] [info] Accepted new action goal ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438167 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438167 ms (missed cycles : 2).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306771 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306771 ms (missed cycles : 2).[0m ×2 + 13.89sINFOobjective_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 + 13.90sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.90sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.94sERRORobjective_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: 1789737379.36225057 seconds ×3 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231061 ms (missed cycles : 2). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231061 ms (missed cycles : 2).[0m ×2 + 14.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.61sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.73sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789737380.15127444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 14.90sINFOros2_control_node[2026-09-18 13:16:20.325] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-09-18 13:16:20.325] [info] Accepted new action goal ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624283 ms (missed cycles : 2). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624283 ms (missed cycles : 2).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261303 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261303 ms (missed cycles : 2).[0m ×2 + 17.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 17.41sINFOros2_control_node[2026-09-18 13:16:22.831] [info] Received new action goal ×2 + 17.41sINFOros2_control_node[2026-09-18 13:16:22.831] [info] Accepted new action goal ×2
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.0s	57 warnings · 2244 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2).[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2).[0m ×2 + 3.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737516.18250871 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_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: "" + 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.90sINFOobjective_server_nodecaller: ×4 + 3.90sINFOobjective_server_nodetype: 0 ×4 + 3.90sINFOobjective_server_nodename: "" ×4 + 3.90sINFOobjective_server_nodeinstance_id: "" ×4 + 3.90sINFOobjective_server_node ×4 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737516.90110254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2).[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357109 ms (missed cycles : 4). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357109 ms (missed cycles : 4).[0m ×2 + 7.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.66sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.94sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.95sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.96sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.07sINFOobjective_server_nodeFound path in 1 iterations (0.00439664 s). ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.485572 ms (missed cycles : 7). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.485572 ms (missed cycles : 7).[0m ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.28sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.29sINFOros2_control_node[2026-09-18 13:18:41.197] [info] Received new action goal ×2 + 8.29sINFOros2_control_node[2026-09-18 13:18:41.197] [info] Accepted new action goal ×2 + 8.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343615 ms (missed cycles : 4). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343615 ms (missed cycles : 4).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168536 ms (missed cycles : 5). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168536 ms (missed cycles : 5).[0m ×2 + 10.59sINFOros2_control_node[2026-09-18 13:18:43.500] [info] Received new action goal ×2 + 10.59sINFOros2_control_node[2026-09-18 13:18:43.500] [info] Accepted new action goal ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2).[0m ×2 + 12.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.26sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Received new action goal ×2 + 12.26sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Accepted new action goal ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4).[0m ×2 + 13.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789737526.46133184 seconds ×3 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2).[0m ×2 + 14.02sWARNros2_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 + 14.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2).[0m ×2 + 14.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.91sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737527.91190958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 15.19sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Received new action goal ×2 + 15.19sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Accepted new action goal ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5).[0m ×2 + 17.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2).[0m ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.9s	3 errors · 57 warnings · 135 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2).[0m ×2 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789737526.46133184 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.52sINFOobjective_server_nodename: "" ×4 + 3.52sINFOobjective_server_nodeinstance_id: "" ×4 + 3.52sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737527.91190958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555662 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555662 ms (missed cycles : 3).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231004 ms (missed cycles : 4). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231004 ms (missed cycles : 4).[0m ×2 + 9.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909747 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909747 ms (missed cycles : 2).[0m ×2 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683947 ms (missed cycles : 4). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683947 ms (missed cycles : 4).[0m ×2 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133150 ms (missed cycles : 5). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133150 ms (missed cycles : 5).[0m ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627636 ms (missed cycles : 3). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627636 ms (missed cycles : 3).[0m ×2 + 13.91sINFOobjective_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 + 13.92sERRORobjective_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: 1789737538.22253418 seconds ×3 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567880 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567880 ms (missed cycles : 2).[0m ×2 + 14.26sWARNros2_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 + 14.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.46sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.53sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789737538.83464503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.86sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 14.87sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.88sINFOros2_control_node[2026-09-18 13:18:59.185] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-09-18 13:18:59.185] [info] Accepted new action goal ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793676 ms (missed cycles : 3). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793676 ms (missed cycles : 3).[0m ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570688 ms (missed cycles : 5). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570688 ms (missed cycles : 5).[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056118 ms (missed cycles : 2). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056118 ms (missed cycles : 2).[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 8.178977 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_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 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1789737357.33887172 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737357.98171020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579300 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579300 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607150 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607150 ms (missed cycles : 3).[0m ×2 + 9.24sWARNros2_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 + 9.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.30sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.57sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 9.58sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (5.34e-07 s). ×2 + 9.60sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 9.61sINFOobjective_server_nodeFound path in 0 iterations (5.81e-07 s). ×2 + 9.66sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 9.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.84sINFOobjective_server_nodeFound path in 5 iterations (0.00846322 s). ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077289 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077289 ms (missed cycles : 2).[0m ×2 + 9.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 9.99sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 10.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 10.11sINFOobjective_server_nodeFound path in 0 iterations (6.42e-07 s). ×2 + 10.29sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 10.32sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 10.47sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 10.61sINFOros2_control_node[2026-09-18 13:16:04.879] [info] Received new action goal ×2 + 10.61sINFOros2_control_node[2026-09-18 13:16:04.879] [info] Accepted new action goal ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873627 ms (missed cycles : 2). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873627 ms (missed cycles : 2).[0m ×2 + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323969 ms (missed cycles : 4). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323969 ms (missed cycles : 4).[0m ×2 + 12.87sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 13.15sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 13.15sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 13.15sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 13.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789737367.44621825 seconds ×3 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021593 ms (missed cycles : 2). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021593 ms (missed cycles : 2).[0m ×2 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382036 ms (missed cycles : 5). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382036 ms (missed cycles : 5).[0m ×2 + 14.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Using Yaml" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.68sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789737368.95447087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 14.88sINFOros2_control_node[2026-09-18 13:16:09.158] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-09-18 13:16:09.158] [info] Accepted new action goal ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914157 ms (missed cycles : 2). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914157 ms (missed cycles : 2).[0m ×2 + 15.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646943 ms (missed cycles : 4). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646943 ms (missed cycles : 4).[0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.119458 ms (missed cycles : 5). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.119458 ms (missed cycles : 5).[0m ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	10.9s	3 errors · 57 warnings · 257 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985732 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985732 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675136 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675136 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583579 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583579 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789737548.78704619 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983571 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983571 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.28sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.28sINFOobjective_server_nodecaller: ×8 + 3.28sINFOobjective_server_nodetype: 0 ×8 + 3.28sINFOobjective_server_nodename: "" ×8 + 3.28sINFOobjective_server_nodeinstance_id: "" ×8 + 3.28sINFOobjective_server_node ×8 + 3.35sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789737549.44209576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.47sINFOros2_control_node[2026-09-18 13:19:09.566] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-18 13:19:09.566] [info] Accepted new action goal ×2 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483178 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483178 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194902 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194902 ms (missed cycles : 5).[0m ×2 + 5.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951003 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951003 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152164 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152164 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.902361 ms (missed cycles : 6). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.902361 ms (missed cycles : 6).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857271 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857271 ms (missed cycles : 3).[0m ×2 + 9.81sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225046 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225046 ms (missed cycles : 3).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2).[0m ×2 + 13.62sINFOobjective_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 + 13.63sERRORobjective_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: 1789737559.72234654 seconds ×3 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2).[0m ×2 + 14.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737560.35147905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737560.43161964 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3).[0m ×2 + 14.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.88sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.93sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737561.02929544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.96sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 14.96sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737561.05194759 seconds ×3 + 15.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.60sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737561.75286055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.76sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 15.76sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.77sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Received new action goal ×2 + 15.77sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Accepted new action goal ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4).[0m ×2 + 16.82sWARNros2_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 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4).[0m ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.8s	3 errors · 57 warnings · 222 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071099 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071099 ms (missed cycles : 4).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.85sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Received new action goal ×2 + 0.85sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Accepted new action goal ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737345.75475860 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.68sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.68sINFOobjective_server_nodecaller: ×6 + 2.68sINFOobjective_server_nodetype: 0 ×6 + 2.68sINFOobjective_server_nodename: "" ×6 + 2.68sINFOobjective_server_nodeinstance_id: "" ×6 + 2.68sINFOobjective_server_node ×6 + 2.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737346.37727761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737346.45742273 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.49sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737347.10556459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.63sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 ms (missed cycles : 2).[0m ×2 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (1.61e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.98sINFOros2_control_node[2026-09-18 13:15:50.589] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 13:15:50.589] [info] Accepted new action goal ×2 + 7.06sWARNros2_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 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608364 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608364 ms (missed cycles : 3).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592381 ms (missed cycles : 4). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592381 ms (missed cycles : 4).[0m ×2 + 9.31sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 9.32sINFOros2_control_node[2026-09-18 13:15:52.927] [info] Received new action goal ×2 + 9.32sINFOros2_control_node[2026-09-18 13:15:52.927] [info] Accepted new action goal ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764913 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764913 ms (missed cycles : 3).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5).[0m ×2 + 11.66sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5).[0m ×2 + 11.68sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Received new action goal ×2 + 11.68sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Accepted new action goal ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2).[0m ×2 + 13.12sWARNros2_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 + 13.71sINFOobjective_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 + 13.71sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Got request to cancel active goal. ×2 + 13.71sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Canceling active goal... ×2 + 13.73sERRORobjective_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: 1789737357.33887172 seconds ×3 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2).[0m ×2 + 14.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.30sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.37sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737357.98171020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.56sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 14.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.57sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Received new action goal ×2 + 14.57sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Accepted new action goal ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2).[0m ×2
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	10.8s	3 errors · 56 warnings · 426 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.58sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.58sINFOobjective_server_nodecaller: ×12 + 0.58sINFOobjective_server_nodetype: 0 ×12 + 0.58sINFOobjective_server_nodename: "" ×12 + 0.58sINFOobjective_server_nodeinstance_id: "" ×12 + 0.58sINFOobjective_server_node ×12 + 0.59sWARNros2_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 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.64sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.18sINFOros2_control_node[2026-09-18 13:15:15.735] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-18 13:15:15.735] [info] Accepted new action goal ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578816 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578816 ms (missed cycles : 5).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817568 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817568 ms (missed cycles : 3).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283849 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283849 ms (missed cycles : 2).[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365977 ms (missed cycles : 4). + 9.81sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365977 ms (missed cycles : 4).[0m ×2 + 9.83sINFOros2_control_node[2026-09-18 13:15:19.391] [info] Received new action goal ×2 + 9.83sINFOros2_control_node[2026-09-18 13:15:19.391] [info] Accepted new action goal ×2 + 9.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.612774 ms (missed cycles : 7). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.612774 ms (missed cycles : 7).[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017814 ms (missed cycles : 6). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017814 ms (missed cycles : 6).[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718230 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718230 ms (missed cycles : 2).[0m ×2 + 13.15sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 13.16sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.17sINFOros2_control_node[2026-09-18 13:15:22.731] [info] Received new action goal ×2 + 13.17sINFOros2_control_node[2026-09-18 13:15:22.731] [info] Accepted new action goal ×2 + 13.66sINFOobjective_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 + 13.67sINFOros2_control_node[2026-09-18 13:15:23.227] [info] Got request to cancel active goal. ×2 + 13.67sINFOros2_control_node[2026-09-18 13:15:23.227] [info] Canceling active goal... ×2 + 13.68sERRORobjective_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: 1789737323.24265456 seconds ×3 + 13.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552227 ms (missed cycles : 7). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.552227 ms (missed cycles : 7).[0m ×2 + 14.23sINFOobjective_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: "" + 14.23sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789737323.86335468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 14.52sINFOros2_control_node[2026-09-18 13:15:24.077] [info] Received new action goal ×2 + 14.52sINFOros2_control_node[2026-09-18 13:15:24.077] [info] Accepted new action goal ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806636 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806636 ms (missed cycles : 2).[0m ×2 + 16.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.137426 ms (missed cycles : 9). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.137426 ms (missed cycles : 9).[0m ×2 + 16.78sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 16.78sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.80sINFOros2_control_node[2026-09-18 13:15:26.357] [info] Received new action goal ×2 + 16.80sINFOros2_control_node[2026-09-18 13:15:26.357] [info] Accepted new action goal ×2
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	10.7s	3 errors · 55 warnings · 268 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_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 + 2.02sERRORobjective_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: 1789737334.32391214 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.62sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.62sINFOobjective_server_nodecaller: ×8 + 2.62sINFOobjective_server_nodetype: 0 ×8 + 2.62sINFOobjective_server_nodename: "" ×8 + 2.62sINFOobjective_server_nodeinstance_id: "" ×8 + 2.62sINFOobjective_server_node ×8 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737334.98806286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737335.07819319 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737335.71437740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.45e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938060 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938060 ms (missed cycles : 2).[0m ×2 + 6.23sWARNros2_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 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438883 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438883 ms (missed cycles : 2).[0m ×2 + 7.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.54sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.98sINFOobjective_server_nodeFound path in 1 iterations (0.00348834 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.22sINFOros2_control_node[2026-09-18 13:15:40.523] [info] Received new action goal ×2 + 8.22sINFOros2_control_node[2026-09-18 13:15:40.523] [info] Accepted new action goal ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011612 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011612 ms (missed cycles : 2).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549037 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549037 ms (missed cycles : 3).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415397 ms (missed cycles : 5). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415397 ms (missed cycles : 5).[0m ×2 + 10.52sINFOros2_control_node[2026-09-18 13:15:42.826] [info] Received new action goal ×2 + 10.52sINFOros2_control_node[2026-09-18 13:15:42.826] [info] Accepted new action goal ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071099 ms (missed cycles : 4). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071099 ms (missed cycles : 4).[0m ×2 + 12.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.16sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Received new action goal ×2 + 12.16sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Accepted new action goal ×2 + 12.30sWARNros2_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 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4).[0m ×2 + 13.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737345.75475860 seconds ×3 + 13.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.99sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737346.37727761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737346.45742273 seconds ×3 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3).[0m ×2 + 14.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.75sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.80sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737347.10556459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.91sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 14.92sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.94sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Received new action goal ×2 + 14.94sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Accepted new action goal ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2).[0m ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.6s	3 errors · 57 warnings · 129 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683947 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683947 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133150 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133150 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627636 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627636 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_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: 1789737538.22253418 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567880 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567880 ms (missed cycles : 2).[0m ×2 + 3.14sWARNros2_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 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789737538.83464503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.77sINFOros2_control_node[2026-09-18 13:18:59.185] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-18 13:18:59.185] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793676 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793676 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570688 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570688 ms (missed cycles : 5).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056118 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056118 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679702 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679702 ms (missed cycles : 2).[0m ×2 + 7.78sINFOros2_control_node[2026-09-18 13:19:03.202] [info] Received new action goal ×2 + 7.78sINFOros2_control_node[2026-09-18 13:19:03.202] [info] Accepted new action goal ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724029 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724029 ms (missed cycles : 3).[0m ×2 + 9.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863008 ms (missed cycles : 5). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863008 ms (missed cycles : 5).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985732 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985732 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675136 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675136 ms (missed cycles : 3).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583579 ms (missed cycles : 2). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583579 ms (missed cycles : 2).[0m ×2 + 13.37sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789737548.78704619 seconds ×3 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983571 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983571 ms (missed cycles : 3).[0m ×2 + 13.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.96sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.02sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789737549.44209576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.14sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 14.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.15sINFOros2_control_node[2026-09-18 13:19:09.566] [info] Received new action goal ×2 + 14.15sINFOros2_control_node[2026-09-18 13:19:09.566] [info] Accepted new action goal ×2 + 14.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483178 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483178 ms (missed cycles : 3).[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194902 ms (missed cycles : 5). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194902 ms (missed cycles : 5).[0m ×2 + 16.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951003 ms (missed cycles : 2). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951003 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	10.3s	61 errors · 34 warnings · 391 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-18 13:19:32.223] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-18 13:19:32.223] [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: 1789737572.22729158 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2).[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 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737572.84253573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737574.16267252 seconds ×3 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.49sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737574.79250002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.58sINFOobjective_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 + 2.58sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737574.79515839 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2).[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 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737575.46665478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737575.47734857 seconds ×3 + 3.47sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734238 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734238 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737576.07748866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737576.67761350 seconds ×3 + 4.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866307 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866307 ms (missed cycles : 2).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557816 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557816 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562230 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562230 ms (missed cycles : 2).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269378 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269378 ms (missed cycles : 2).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.463854 ms (missed cycles : 7). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.463854 ms (missed cycles : 7).[0m ×2 + 9.74sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.75sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.76sERRORweb_video_auth_proxy-23process has died [pid 7338, 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 + 9.76sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.76sERRORweb_bridge_auth_proxy-22process has died [pid 7332, 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 + 9.76sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.77sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.77sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.78sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.78sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.78sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.79sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.79sINFOvideo_server-21process has finished cleanly [pid 7331] ×2 + 9.79sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.80sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.80sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.81sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.81sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.82sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.82sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.82sINFOvideo_server2026/09/18 13:19:41 INF shutting down gracefully ×2 + 9.82sINFOvideo_server2026/09/18 13:19:41 INF [WebRTC] closing ×2 + 9.82sINFOvideo_server2026/09/18 13:19:41 INF [RTSP] closing ×2 + 9.82sINFOvideo_server2026/09/18 13:19:41 INF waiting for running hooks ×2 + 9.82sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.82sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.82sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.82sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.82sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.82sERRORmove_groupStack trace (most recent call last) in thread 7691: ×2 + 9.82sINFOcontroller_managerShutdown request received.... + 9.83sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.83sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.83sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.83sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.83sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.83sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.83sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.83sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.83sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.83sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.83sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.83sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.83sINFOcontroller_managerShutting down the controller manager. + 9.83sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 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 + 9.83sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_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 'velocity_force_controller'[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 'force_torque_sensor_broadcaster'[0m ×2 + 9.83sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.83sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.83sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.83sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.83sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.83sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.83sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 9.83sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.83sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd2bdcaca63, in __clone ×2 + 9.84sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd2bdc1faa3, in ×2 + 9.84sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd2bdeb1db3, 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 0x7fd2be615b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.84sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd2be243620, in rclcpp::Rate::sleep() ×2 + 9.84sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd2be185d18, 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 0x7fd2be147087, in ×2 + 9.84sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd2bde80390, in __cxa_throw ×2 + 9.84sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd2bde6aa54, in std::terminate() ×2 + 9.84sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd2bde800d9, in ×2 + 9.84sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd2bde6aff4, in ×2 + 9.84sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd2bdbab8fe, in abort ×2 + 9.84sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd2bdbc827d, in raise ×2 + 9.84sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd2bdc21b2c, in pthread_kill ×2 + 9.84sERRORmove_groupAborted (Signal sent by tkill() 7233 0) ×2 + 9.85sERRORmove_group-9process has died [pid 7233, 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_41o2xto3 --params-file /tmp/launch_params_gljtggpc --params-file /tmp/launch_params_1j1u8gmg --params-file /tmp/launch_params_mbf79c51 --params-file /tmp/launch_params_r3dcdrwn --params-file /tmp/launch_params_rambvyuq']. ×2 + 10.03sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.03sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.04sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.82sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7328] ×2 + 10.82sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.85sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7237] ×2 + 10.85sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7236] ×2 + 10.88sINFOparameter_manager_node-10process has finished cleanly [pid 7234] ×2 + 10.89sINFOwaypoint_manager_node-11process has finished cleanly [pid 7235] ×2 + 10.89sINFOexecute_objective_bridge-17process has finished cleanly [pid 7259] ×2 + 10.90sINFOui_teleop_bridge-18process has finished cleanly [pid 7260] ×2 + 10.94sINFOcomponent_container_mt-16process has finished cleanly [pid 7258] ×2 + 10.95sINFOobjective_server_node[0;m[2026-09-18 13:19:43.165] [moveit_pro_license] [critical] ×2 + 10.95sINFOobjective_server_node************************************************* ×4 + 10.95sINFOobjective_server_node* MoveIt Pro License ×2 + 10.95sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.08sINFOobjective_server_node_main-14process has finished cleanly [pid 7238] ×2 + 11.08sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.98sINFOcomponent_container_mt-15process has finished cleanly [pid 7240] ×2 + 12.19sINFOweb_bridge-19process has finished cleanly [pid 7261] ×2 + 12.19sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.48sINFOros2_control_node-1process has finished cleanly [pid 7214] ×2
✓ passed	Look at Table	look_at_table.xml	3.7s	32 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.353981 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.353981 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118702 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118702 ms (missed cycles : 4).[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789737391.39378452 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117847 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117847 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.54sINFOobjective_server_nodecaller: ×6 + 2.54sINFOobjective_server_nodetype: 0 ×6 + 2.55sINFOobjective_server_nodename: "" ×6 + 2.55sINFOobjective_server_nodeinstance_id: "" ×6 + 2.55sINFOobjective_server_node ×6 + 2.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789737392.06000948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789737392.12015343 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420469 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420469 ms (missed cycles : 5).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.27sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737392.73357272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4).[0m ×2 + 5.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737394.86370540 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3).[0m ×2 + 6.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.98sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.05sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737396.51223183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.13sINFOobjective_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 + 7.14sINFOobjective_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 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4).[0m ×2 + 7.42sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 7.43sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.48sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Received new action goal ×2 + 7.48sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Accepted new action goal ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.9s	3 errors · 31 warnings · 213 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369777 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369777 ms (missed cycles : 4).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296231 ms (missed cycles : 8). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296231 ms (missed cycles : 8).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341105 ms (missed cycles : 6). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341105 ms (missed cycles : 6).[0m ×2 + 2.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-09-18 13:19:32.223] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-09-18 13:19:32.223] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1789737572.22729158 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.34sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.34sINFOobjective_server_nodecaller: ×8 + 3.34sINFOobjective_server_nodetype: 0 ×8 + 3.34sINFOobjective_server_nodename: "" ×8 + 3.34sINFOobjective_server_nodeinstance_id: "" ×8 + 3.34sINFOobjective_server_node ×8 + 3.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737572.84253573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737574.16267252 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.35sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737574.79250002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.36sINFOobjective_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 + 5.36sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.36sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737574.79515839 seconds ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.97sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737575.46665478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737575.47734857 seconds ×3 + 6.25sWARNros2_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 + 6.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.58sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734238 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734238 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737576.07748866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737576.67761350 seconds ×3 + 7.27sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866307 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866307 ms (missed cycles : 2).[0m ×2
✓ passed	Close Gripper	close_gripper.xml	1.5s	33 warnings · 698 info
+ 0.00sINFOobjective_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 + 0.00sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.01sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.29sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.29sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.67sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.67sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.68sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.68sWARNros2_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 + 0.68sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.68sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.68sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.68sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.68sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.68sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.68sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.68sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.68sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.68sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.68sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.68sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.68sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.68sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.68sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.68sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.68sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.68sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.68sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.68sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.68sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.68sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.68sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.68sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.68sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.68sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.68sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.85sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.85sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.86sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.88sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.89sINFOforce_torque_sensor_broadcasterconfigure successful + 0.89sINFOros2_control_nodeconfigure successful[0m ×2 + 0.89sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.89sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.90sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.90sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.12sINFOcomponent_container_mt[2026-09-18 13:15:06.323] [moveit_pro_license] [info] ×2 + 1.12sINFOcomponent_container_mt************************************************* ×4 + 1.12sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.12sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.19sINFOros2-2process has finished cleanly [pid 7215] ×2 + 1.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.39sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 1.39sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.39sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 1.40sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.43sINFOros2_control_node[2026-09-18 13:15:06.636] [info] Controller state will be published at 20 Hz. ×2 + 1.43sINFOros2_control_node[2026-09-18 13:15:06.637] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.44sWARNobjective_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 + 1.75sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.75sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.75sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.76sINFOros2-8process has finished cleanly [pid 7221] ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091958 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091958 ms (missed cycles : 2).[0m ×2 + 1.82sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.82sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.86sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.86sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.87sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.90sINFOros2_control_node[2026-09-18 13:15:07.100] [info] Controller state will be published at 10 Hz. ×2 + 1.90sINFOros2_control_node[2026-09-18 13:15:07.101] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.20sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.20sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.20sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.20sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 2.20sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.22sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.22sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.24sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.24sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.24sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.24sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.24sINFOros2-7process has finished cleanly [pid 7220] ×2 + 2.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.25sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.25sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.56sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.56sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.56sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.56sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 2.56sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 2.59sINFOros2-3process has finished cleanly [pid 7216] ×2 + 2.62sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.62sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.62sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.62sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.62sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.62sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.62sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.62sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.62sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.62sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.63sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.63sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.63sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.63sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.64sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.64sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.79sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.79sINFOobjective_server_nodecaller: ×14 + 2.79sINFOobjective_server_nodetype: 0 ×14 + 2.79sINFOobjective_server_nodename: "" ×14 + 2.79sINFOobjective_server_nodeinstance_id: "" ×14 + 2.79sINFOobjective_server_node ×14 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737308.04377127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737308.05397820 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.90sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.90sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.91sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 2.91sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 2.94sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.94sINFOros2-5process has finished cleanly [pid 7218] ×2 + 2.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.94sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.94sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.94sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.94sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.25sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.25sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.25sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.25sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.26sINFOros2-4process has finished cleanly [pid 7217] ×2 + 3.33sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 3.33sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 3.36sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.36sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.36sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.36sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.39sINFOros2_control_node[2026-09-18 13:15:08.593] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.39sINFOros2_control_node[2026-09-18 13:15:08.593] [info] Controller state will be published at 50 Hz. ×2 + 3.40sINFOros2_control_node[2026-09-18 13:15:08.599] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737308.64895201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4).[0m ×2 + 3.74sINFOros2-6process has finished cleanly [pid 7219] ×2 + 4.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.94sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.95sWARNros2_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 + 4.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 6.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 7.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 7.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 7.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.99sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.00sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 8.00sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.7s	28 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722525 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722525 ms (missed cycles : 7).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.353981 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.353981 ms (missed cycles : 6).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118702 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118702 ms (missed cycles : 4).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789737391.39378452 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117847 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117847 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789737392.06000948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789737392.12015343 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420469 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420469 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.29sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737392.73357272 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 (3.32e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.42sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4).[0m ×2 + 6.24sWARNros2_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 + 6.42sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737394.86370540 seconds ×3 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3).[0m ×2
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.7s	3 errors · 25 warnings · 191 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225046 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225046 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2).[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 + 3.23sERRORobjective_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: 1789737559.72234654 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.81sINFOobjective_server_nodetype: 0 ×6 + 3.81sINFOobjective_server_nodename: "" ×6 + 3.81sINFOobjective_server_nodeinstance_id: "" ×6 + 3.81sINFOobjective_server_node ×6 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737560.35147905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737560.43161964 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737561.02929544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737561.05194759 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.20sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737561.75286055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4).[0m ×2 + 6.43sWARNros2_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 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4).[0m ×2
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	23 warnings · 125 info
+ 0.00sINFOros2_control_node[2026-09-18 13:15:42.826] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 13:15:42.826] [info] Accepted new action goal ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071099 ms (missed cycles : 4). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071099 ms (missed cycles : 4).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Accepted new action goal ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737345.75475860 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737346.37727761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737346.45742273 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.28sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737347.10556459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.41sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 ms (missed cycles : 2).[0m ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	3 errors · 25 warnings · 114 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5).[0m ×2 + 2.59sINFOobjective_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 + 2.60sERRORobjective_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: 1789737334.32391214 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2).[0m ×2 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737334.98806286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737335.07819319 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737335.71437740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (1.45e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938060 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938060 ms (missed cycles : 2).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.7s	30 warnings · 553 info
+ 0.00sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sINFOros2_control_node[2026-09-18 13:15:06.636] [info] Controller state will be published at 20 Hz. ×2 + 0.02sINFOros2_control_node[2026-09-18 13:15:06.637] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.03sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.33sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.33sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.33sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.35sINFOros2-8process has finished cleanly [pid 7221] ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091958 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091958 ms (missed cycles : 2).[0m ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.45sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.49sINFOros2_control_node[2026-09-18 13:15:07.100] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-09-18 13:15:07.101] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.78sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.79sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.79sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.79sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.80sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.80sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.83sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.83sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.83sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.83sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.83sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.83sINFOros2-7process has finished cleanly [pid 7220] ×2 + 0.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.84sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.84sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.15sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.18sINFOros2-3process has finished cleanly [pid 7216] ×2 + 1.21sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.22sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.22sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.22sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.22sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.22sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.37sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.37sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.37sINFOobjective_server_nodecaller: ×14 + 1.37sINFOobjective_server_nodetype: 0 ×14 + 1.37sINFOobjective_server_nodename: "" ×14 + 1.37sINFOobjective_server_nodeinstance_id: "" ×14 + 1.37sINFOobjective_server_node ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737308.04377127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737308.05397820 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.52sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.53sINFOros2-5process has finished cleanly [pid 7218] ×2 + 1.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.55sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.55sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.56sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.56sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.84sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.84sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.84sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2-4process has finished cleanly [pid 7217] ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.92sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.95sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.95sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.95sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.95sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.95sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.95sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.98sINFOros2_control_node[2026-09-18 13:15:08.593] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.98sINFOros2_control_node[2026-09-18 13:15:08.593] [info] Controller state will be published at 50 Hz. ×2 + 1.98sINFOros2_control_node[2026-09-18 13:15:08.599] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737308.64895201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4).[0m ×2 + 2.33sINFOros2-6process has finished cleanly [pid 7219] ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sWARNros2_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 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 6.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.59sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.7s	3 errors · 26 warnings · 213 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341105 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341105 ms (missed cycles : 6).[0m ×2 + 0.58sINFOobjective_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 + 0.59sINFOros2_control_node[2026-09-18 13:19:32.223] [info] Got request to cancel active goal. ×2 + 0.59sINFOros2_control_node[2026-09-18 13:19:32.223] [info] Canceling active goal... ×2 + 0.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737572.22729158 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2).[0m ×2 + 1.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.14sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.14sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.14sINFOobjective_server_nodecaller: ×8 + 1.14sINFOobjective_server_nodetype: 0 ×8 + 1.14sINFOobjective_server_nodename: "" ×8 + 1.14sINFOobjective_server_nodeinstance_id: "" ×8 + 1.14sINFOobjective_server_node ×8 + 1.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737572.84253573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737574.16267252 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.16sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737574.79250002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.16sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.16sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737574.79515839 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737575.46665478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737575.47734857 seconds ×3 + 4.06sWARNros2_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 + 4.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.39sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734238 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734238 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737576.07748866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737576.67761350 seconds ×3 + 5.08sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866307 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866307 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557816 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557816 ms (missed cycles : 2).[0m ×2
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	3 errors · 26 warnings · 213 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341105 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341105 ms (missed cycles : 6).[0m ×2 + 0.58sINFOobjective_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 + 0.59sINFOros2_control_node[2026-09-18 13:19:32.223] [info] Got request to cancel active goal. ×2 + 0.59sINFOros2_control_node[2026-09-18 13:19:32.223] [info] Canceling active goal... ×2 + 0.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789737572.22729158 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2).[0m ×2 + 1.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.14sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.14sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.14sINFOobjective_server_nodecaller: ×8 + 1.14sINFOobjective_server_nodetype: 0 ×8 + 1.14sINFOobjective_server_nodename: "" ×8 + 1.14sINFOobjective_server_nodeinstance_id: "" ×8 + 1.14sINFOobjective_server_node ×8 + 1.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737572.84253573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737574.16267252 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.16sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737574.79250002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.16sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.16sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737574.79515839 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737575.46665478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737575.47734857 seconds ×3 + 4.06sWARNros2_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 + 4.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.39sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734238 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734238 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737576.07748866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737576.67761350 seconds ×3 + 5.08sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866307 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866307 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557816 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557816 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 1.715833 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2).[0m ×2 + 1.98sINFOobjective_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 + 1.99sERRORobjective_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: 1789737559.72234654 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.56sINFOobjective_server_nodecaller: ×6 + 2.56sINFOobjective_server_nodetype: 0 ×6 + 2.56sINFOobjective_server_nodename: "" ×6 + 2.56sINFOobjective_server_nodeinstance_id: "" ×6 + 2.56sINFOobjective_server_node ×6 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737560.35147905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737560.43161964 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.30sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737561.02929544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_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 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737561.05194759 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737561.75286055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4).[0m ×2 + 5.18sWARNros2_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 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860243 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860243 ms (missed cycles : 6).[0m ×2
− skipped	Octomap Example	octomap_example.xml	0.1s	23 warnings · 2134 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2).[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2).[0m ×2 + 3.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737516.18250871 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_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: "" + 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737516.90110254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2).[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357109 ms (missed cycles : 4). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357109 ms (missed cycles : 4).[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 5.071099 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071099 ms (missed cycles : 4).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.84sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.85sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Received new action goal ×2 + 0.85sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Accepted new action goal ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737345.75475860 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.68sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.68sINFOobjective_server_nodecaller: ×4 + 2.68sINFOobjective_server_nodetype: 0 ×4 + 2.68sINFOobjective_server_nodename: "" ×4 + 2.68sINFOobjective_server_nodeinstance_id: "" ×4 + 2.68sINFOobjective_server_node ×4 + 2.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737346.37727761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737346.45742273 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.49sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737347.10556459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.63sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 ms (missed cycles : 2).[0m ×2
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	23 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2).[0m ×2 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789737526.46133184 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737527.91190958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2).[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 8.178977 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_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 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1789737357.33887172 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737357.98171020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2).[0m ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	23 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2).[0m ×2 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789737526.46133184 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737527.91190958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2).[0m ×2
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	3 errors · 20 warnings · 114 info
+ 0.00sWARNros2_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 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5).[0m ×2 + 2.59sINFOobjective_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 + 2.60sERRORobjective_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: 1789737334.32391214 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2).[0m ×2 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737334.98806286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737335.07819319 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737335.71437740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (1.45e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 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
+ 0.00sWARNros2_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 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2).[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5).[0m ×2 + 2.59sINFOobjective_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 + 2.60sERRORobjective_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: 1789737334.32391214 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2).[0m ×2 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737334.98806286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737335.07819319 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737335.71437740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (1.45e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 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 2.843045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_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 + 2.02sERRORobjective_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: 1789737334.32391214 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.62sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.62sINFOobjective_server_nodecaller: ×4 + 2.62sINFOobjective_server_nodetype: 0 ×4 + 2.62sINFOobjective_server_nodename: "" ×4 + 2.62sINFOobjective_server_nodeinstance_id: "" ×4 + 2.62sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737334.98806286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737335.07819319 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737335.71437740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.45e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938060 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938060 ms (missed cycles : 2).[0m ×2 + 6.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	3 errors · 23 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_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 + 2.02sERRORobjective_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: 1789737334.32391214 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.62sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.62sINFOobjective_server_nodecaller: ×4 + 2.62sINFOobjective_server_nodetype: 0 ×4 + 2.62sINFOobjective_server_nodename: "" ×4 + 2.62sINFOobjective_server_nodeinstance_id: "" ×4 + 2.62sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737334.98806286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737335.07819319 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737335.71437740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.45e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938060 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938060 ms (missed cycles : 2).[0m ×2 + 6.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	3 errors · 23 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_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 + 2.02sERRORobjective_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: 1789737334.32391214 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.62sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.62sINFOobjective_server_nodecaller: ×4 + 2.62sINFOobjective_server_nodetype: 0 ×4 + 2.62sINFOobjective_server_nodename: "" ×4 + 2.62sINFOobjective_server_nodeinstance_id: "" ×4 + 2.62sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737334.98806286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737335.07819319 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737335.71437740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.45e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938060 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938060 ms (missed cycles : 2).[0m ×2 + 6.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	3 errors · 23 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843045 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527138 ms (missed cycles : 5).[0m ×2 + 2.01sINFOobjective_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 + 2.02sERRORobjective_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: 1789737334.32391214 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020367 ms (missed cycles : 2).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.62sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.62sINFOobjective_server_nodecaller: ×4 + 2.62sINFOobjective_server_nodetype: 0 ×4 + 2.62sINFOobjective_server_nodename: "" ×4 + 2.62sINFOobjective_server_nodeinstance_id: "" ×4 + 2.62sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737334.98806286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737335.07819319 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860862 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737335.71437740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (1.45e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-18 13:15:35.908] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431988 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787230 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938060 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938060 ms (missed cycles : 2).[0m ×2 + 6.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	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 5.071099 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071099 ms (missed cycles : 4).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.84sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.85sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Received new action goal ×2 + 0.85sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Accepted new action goal ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737345.75475860 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.68sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.68sINFOobjective_server_nodecaller: ×4 + 2.68sINFOobjective_server_nodetype: 0 ×4 + 2.68sINFOobjective_server_nodename: "" ×4 + 2.68sINFOobjective_server_nodeinstance_id: "" ×4 + 2.68sINFOobjective_server_node ×4 + 2.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737346.37727761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737346.45742273 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.49sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737347.10556459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.63sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 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 5.071099 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071099 ms (missed cycles : 4).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.84sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.85sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Received new action goal ×2 + 0.85sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Accepted new action goal ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737345.75475860 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.68sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.68sINFOobjective_server_nodecaller: ×4 + 2.68sINFOobjective_server_nodetype: 0 ×4 + 2.68sINFOobjective_server_nodename: "" ×4 + 2.68sINFOobjective_server_nodeinstance_id: "" ×4 + 2.68sINFOobjective_server_node ×4 + 2.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737346.37727761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737346.45742273 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.49sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737347.10556459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.63sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 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 5.071099 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071099 ms (missed cycles : 4).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.84sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.85sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Received new action goal ×2 + 0.85sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Accepted new action goal ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737345.75475860 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.68sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.68sINFOobjective_server_nodecaller: ×4 + 2.68sINFOobjective_server_nodetype: 0 ×4 + 2.68sINFOobjective_server_nodename: "" ×4 + 2.68sINFOobjective_server_nodeinstance_id: "" ×4 + 2.68sINFOobjective_server_node ×4 + 2.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737346.37727761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737346.45742273 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.49sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737347.10556459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.63sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 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 5.071099 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071099 ms (missed cycles : 4).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.84sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.85sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Received new action goal ×2 + 0.85sINFOros2_control_node[2026-09-18 13:15:44.458] [info] Accepted new action goal ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574861 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203056 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737345.75475860 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.68sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.68sINFOobjective_server_nodecaller: ×4 + 2.68sINFOobjective_server_nodetype: 0 ×4 + 2.68sINFOobjective_server_nodename: "" ×4 + 2.68sINFOobjective_server_nodeinstance_id: "" ×4 + 2.68sINFOobjective_server_node ×4 + 2.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737346.37727761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737346.45742273 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735904 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.49sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737347.10556459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.63sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-18 13:15:47.240] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064934 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404417 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337652 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 8.178977 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_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 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1789737357.33887172 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737357.98171020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2).[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 8.178977 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_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 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1789737357.33887172 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737357.98171020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2).[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 8.178977 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_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 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1789737357.33887172 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737357.98171020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2).[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 8.178977 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_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 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1789737357.33887172 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737357.98171020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2).[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 8.178977 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_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 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1789737357.33887172 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737357.98171020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2).[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 8.178977 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_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 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1789737357.33887172 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737357.98171020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2).[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 8.178977 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_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 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1789737357.33887172 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737357.98171020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2).[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 8.178977 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_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 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1789737357.33887172 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737357.98171020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2).[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 8.178977 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_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 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1789737357.33887172 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737357.98171020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2).[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 8.178977 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178977 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697822 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:15:55.287] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877204 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_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 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-18 13:15:57.325] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1789737357.33887172 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003215 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737357.98171020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-18 13:15:58.185] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550271 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638652 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698053 ms (missed cycles : 2).[0m ×2
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	3 errors · 22 warnings · 101 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 0.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00322126 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOros2_control_node[2026-09-18 13:16:16.761] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-18 13:16:16.761] [info] Accepted new action goal ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003975 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003975 ms (missed cycles : 5).[0m ×2 + 0.84sINFOros2_control_node[2026-09-18 13:16:17.193] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-18 13:16:17.193] [info] Accepted new action goal ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438167 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438167 ms (missed cycles : 2).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306771 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306771 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_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 + 2.97sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.97sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.97sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.00sERRORobjective_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: 1789737379.36225057 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231061 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231061 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789737380.15127444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.97sINFOros2_control_node[2026-09-18 13:16:20.325] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-18 13:16:20.325] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624283 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624283 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261303 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261303 ms (missed cycles : 2).[0m ×2 + 6.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sINFOros2_control_node[2026-09-18 13:16:22.831] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-18 13:16:22.831] [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 10.722525 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722525 ms (missed cycles : 7).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.353981 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.353981 ms (missed cycles : 6).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118702 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118702 ms (missed cycles : 4).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789737391.39378452 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117847 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117847 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789737392.06000948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789737392.12015343 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420469 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420469 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.29sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737392.73357272 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 (3.32e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.42sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4).[0m ×2 + 6.24sWARNros2_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 + 6.42sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737394.86370540 seconds ×3
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737392.73357272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Accepted new action goal ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4).[0m ×2 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737394.86370540 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.24sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737396.51223183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_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 + 3.93sINFOobjective_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 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4).[0m ×2
− skipped	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737392.73357272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Accepted new action goal ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4).[0m ×2 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737394.86370540 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.24sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737396.51223183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_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 + 3.93sINFOobjective_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 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4).[0m ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737392.73357272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Accepted new action goal ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4).[0m ×2 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737394.86370540 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.24sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737396.51223183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_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 + 3.93sINFOobjective_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 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4).[0m ×2
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737392.73357272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Accepted new action goal ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4).[0m ×2 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737394.86370540 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.24sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737396.51223183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_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 + 3.93sINFOobjective_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 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4).[0m ×2
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737392.73357272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Accepted new action goal ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4).[0m ×2 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737394.86370540 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.24sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737396.51223183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_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 + 3.93sINFOobjective_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 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4).[0m ×2
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737392.73357272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Accepted new action goal ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4).[0m ×2 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737394.86370540 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.24sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737396.51223183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_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 + 3.93sINFOobjective_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 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4).[0m ×2
− skipped	Move Along Square	move_along_square.xml	0.0s	20 warnings · 103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737392.73357272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 13:16:32.858] [info] Accepted new action goal ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521691 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641218 ms (missed cycles : 4).[0m ×2 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737394.86370540 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704456 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.24sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737396.51223183 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_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 + 3.93sINFOobjective_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 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260359 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:16:36.940] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685051 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122121 ms (missed cycles : 4).[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 6.455444 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455444 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.883060 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.883060 ms (missed cycles : 6).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504273 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504273 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789737449.53645587 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412216 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412216 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_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: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789737450.15711975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.51sINFOros2_control_node[2026-09-18 13:17:30.321] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-18 13:17:30.321] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809972 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809972 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927390 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927390 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449782 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449782 ms (missed cycles : 2).[0m ×2
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	20 warnings · 2134 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2).[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2).[0m ×2 + 3.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737516.18250871 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_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: "" + 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737516.90110254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2).[0m ×2
− skipped	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	0.0s	20 warnings · 2134 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2).[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2).[0m ×2 + 3.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737516.18250871 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_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: "" + 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737516.90110254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2).[0m ×2
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	20 warnings · 2134 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2).[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2).[0m ×2 + 3.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737516.18250871 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_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: "" + 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737516.90110254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2).[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	20 warnings · 2134 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224162 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888551 ms (missed cycles : 2).[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869779 ms (missed cycles : 2).[0m ×2 + 3.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789737516.18250871 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715291 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_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: "" + 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789737516.90110254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 13:18:37.095] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286782 ms (missed cycles : 4).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973937 ms (missed cycles : 2).[0m ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	23 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2).[0m ×2 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789737526.46133184 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737527.91190958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2).[0m ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	23 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2).[0m ×2 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789737526.46133184 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737527.91190958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2).[0m ×2
− skipped	Pick object	pick_object.xml	0.0s	23 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2).[0m ×2 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789737526.46133184 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737527.91190958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2).[0m ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	23 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2).[0m ×2 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789737526.46133184 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737527.91190958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2).[0m ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	23 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2).[0m ×2 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789737526.46133184 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737527.91190958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2).[0m ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	23 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2).[0m ×2 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789737526.46133184 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737527.91190958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2).[0m ×2
− skipped	Place Object	place_object.xml	0.0s	23 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090730 ms (missed cycles : 2).[0m ×2 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-09-18 13:18:45.164] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545861 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789737526.46133184 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039733 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978554 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789737527.91190958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:18:48.095] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414102 ms (missed cycles : 6).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740197 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759040 ms (missed cycles : 2).[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 5.683947 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683947 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133150 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133150 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627636 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627636 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_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: 1789737538.22253418 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567880 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567880 ms (missed cycles : 2).[0m ×2 + 3.14sWARNros2_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 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789737538.83464503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.77sINFOros2_control_node[2026-09-18 13:18:59.185] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-18 13:18:59.185] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793676 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793676 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570688 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570688 ms (missed cycles : 5).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056118 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056118 ms (missed cycles : 2).[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 1.985732 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985732 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675136 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675136 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583579 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583579 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789737548.78704619 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983571 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983571 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789737549.44209576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.47sINFOros2_control_node[2026-09-18 13:19:09.566] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-18 13:19:09.566] [info] Accepted new action goal ×2 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483178 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483178 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194902 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194902 ms (missed cycles : 5).[0m ×2 + 5.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951003 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951003 ms (missed cycles : 2).[0m ×2
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	3 errors · 25 warnings · 191 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225046 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225046 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2).[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 + 3.23sERRORobjective_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: 1789737559.72234654 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.81sINFOobjective_server_nodetype: 0 ×6 + 3.81sINFOobjective_server_nodename: "" ×6 + 3.81sINFOobjective_server_nodeinstance_id: "" ×6 + 3.81sINFOobjective_server_node ×6 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737560.35147905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737560.43161964 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737561.02929544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737561.05194759 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.20sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737561.75286055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4).[0m ×2 + 6.43sWARNros2_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 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4).[0m ×2
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 errors · 25 warnings · 191 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225046 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225046 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2).[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 + 3.23sERRORobjective_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: 1789737559.72234654 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.81sINFOobjective_server_nodetype: 0 ×6 + 3.81sINFOobjective_server_nodename: "" ×6 + 3.81sINFOobjective_server_nodeinstance_id: "" ×6 + 3.81sINFOobjective_server_node ×6 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737560.35147905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737560.43161964 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737561.02929544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737561.05194759 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.20sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737561.75286055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4).[0m ×2 + 6.43sWARNros2_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 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4).[0m ×2
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 errors · 25 warnings · 191 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225046 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225046 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2).[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 + 3.23sERRORobjective_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: 1789737559.72234654 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.81sINFOobjective_server_nodetype: 0 ×6 + 3.81sINFOobjective_server_nodename: "" ×6 + 3.81sINFOobjective_server_nodeinstance_id: "" ×6 + 3.81sINFOobjective_server_node ×6 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737560.35147905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737560.43161964 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737561.02929544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737561.05194759 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.20sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737561.75286055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4).[0m ×2 + 6.43sWARNros2_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 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4).[0m ×2
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 errors · 25 warnings · 191 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225046 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225046 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2).[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 + 3.23sERRORobjective_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: 1789737559.72234654 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.81sINFOobjective_server_nodetype: 0 ×6 + 3.81sINFOobjective_server_nodename: "" ×6 + 3.81sINFOobjective_server_nodeinstance_id: "" ×6 + 3.81sINFOobjective_server_node ×6 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737560.35147905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737560.43161964 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737561.02929544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737561.05194759 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.20sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737561.75286055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4).[0m ×2 + 6.43sWARNros2_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 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4).[0m ×2
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.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 1.715833 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2).[0m ×2 + 1.98sINFOobjective_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 + 1.99sERRORobjective_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: 1789737559.72234654 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.56sINFOobjective_server_nodecaller: ×6 + 2.56sINFOobjective_server_nodetype: 0 ×6 + 2.56sINFOobjective_server_nodename: "" ×6 + 2.56sINFOobjective_server_nodeinstance_id: "" ×6 + 2.56sINFOobjective_server_node ×6 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737560.35147905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737560.43161964 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.30sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737561.02929544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_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 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737561.05194759 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737561.75286055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4).[0m ×2 + 5.18sWARNros2_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 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860243 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860243 ms (missed cycles : 6).[0m ×2
− skipped	Segment Bottle Subtree	segment_bottle_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 1.715833 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2).[0m ×2 + 1.98sINFOobjective_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 + 1.99sERRORobjective_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: 1789737559.72234654 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.56sINFOobjective_server_nodecaller: ×6 + 2.56sINFOobjective_server_nodetype: 0 ×6 + 2.56sINFOobjective_server_nodename: "" ×6 + 2.56sINFOobjective_server_nodeinstance_id: "" ×6 + 2.56sINFOobjective_server_node ×6 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737560.35147905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737560.43161964 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.30sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737561.02929544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_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 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737561.05194759 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737561.75286055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4).[0m ×2 + 5.18sWARNros2_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 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860243 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860243 ms (missed cycles : 6).[0m ×2
− skipped	Select Region for Coverage Path	select_region_for_coverage_path.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 1.715833 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715833 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851267 ms (missed cycles : 2).[0m ×2 + 1.98sINFOobjective_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 + 1.99sERRORobjective_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: 1789737559.72234654 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320276 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.56sINFOobjective_server_nodecaller: ×6 + 2.56sINFOobjective_server_nodetype: 0 ×6 + 2.56sINFOobjective_server_nodename: "" ×6 + 2.56sINFOobjective_server_nodeinstance_id: "" ×6 + 2.56sINFOobjective_server_node ×6 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789737560.35147905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789737560.43161964 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398348 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.30sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789737561.02929544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_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 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789737561.05194759 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789737561.75286055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:19:21.868] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485276 ms (missed cycles : 4).[0m ×2 + 5.18sWARNros2_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 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450589 ms (missed cycles : 4).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860243 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860243 ms (missed cycles : 6).[0m ×2
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	3 errors · 25 warnings · 188 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 5.369777 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369777 ms (missed cycles : 4).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296231 ms (missed cycles : 8). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296231 ms (missed cycles : 8).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341105 ms (missed cycles : 6). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341105 ms (missed cycles : 6).[0m ×2 + 2.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-09-18 13:19:32.223] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-09-18 13:19:32.223] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1789737572.22729158 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737572.84253573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737574.16267252 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.35sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737574.79250002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.36sINFOobjective_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 + 5.36sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.36sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737574.79515839 seconds ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.97sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737575.46665478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737575.47734857 seconds ×3 + 6.25sWARNros2_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
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	3 errors · 25 warnings · 188 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 5.369777 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369777 ms (missed cycles : 4).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296231 ms (missed cycles : 8). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.296231 ms (missed cycles : 8).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341105 ms (missed cycles : 6). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341105 ms (missed cycles : 6).[0m ×2 + 2.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-09-18 13:19:32.223] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-09-18 13:19:32.223] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1789737572.22729158 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820290 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737572.84253573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001633 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737574.16267252 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.35sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789737574.79250002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.36sINFOobjective_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 + 5.36sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.36sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789737574.79515839 seconds ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750352 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.97sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789737575.46665478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789737575.47734857 seconds ×3 + 6.25sWARNros2_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

▾/__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 · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2

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

3 pass8 skip

✓ passed	—	clear_snapshot.xml	6.4s	37 warnings · 730 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-18-13-15-01-618624-098f08119f3d-7166 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.64sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.65sINFOcontroller_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. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.846907 ms (missed cycles : 8). + 0.77sINFOros2_control_node-1process started with pid [7214] ×2 + 0.77sINFOmove_group-9process started with pid [7233] ×2 + 0.77sINFOparameter_manager_node-10process started with pid [7234] ×2 + 0.77sINFOwaypoint_manager_node-11process started with pid [7235] ×2 + 0.77sINFOmove_joint_resampler_node-12process started with pid [7236] ×2 + 0.77sINFOmove_end_effector_resampler_node-13process started with pid [7237] ×2 + 0.77sINFOobjective_server_node_main-14process started with pid [7238] ×2 + 0.77sINFOcomponent_container_mt-15process started with pid [7240] ×2 + 0.77sINFOcomponent_container_mt-16process started with pid [7258] ×2 + 0.77sINFOexecute_objective_bridge-17process started with pid [7259] ×2 + 0.77sINFOui_teleop_bridge-18process started with pid [7260] ×2 + 0.77sINFOweb_bridge-19process started with pid [7261] ×2 + 0.77sINFOtf2_web_republisher_node-20process started with pid [7328] ×2 + 0.77sINFOvideo_server-21process started with pid [7331] ×2 + 0.77sINFOweb_bridge_auth_proxy-22process started with pid [7332] ×2 + 0.77sINFOweb_video_auth_proxy-23process started with pid [7338] ×2 + 0.78sINFOros2-2process started with pid [7215] ×2 + 0.78sINFOros2-3process started with pid [7216] ×2 + 0.78sINFOros2-4process started with pid [7217] ×2 + 0.78sINFOros2-5process started with pid [7218] ×2 + 0.78sINFOros2-6process started with pid [7219] ×2 + 0.78sINFOros2-7process started with pid [7220] ×2 + 0.78sINFOros2-8process started with pid [7221] ×2 + 0.79sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.79sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.79sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.79sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.79sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.79sWARNros2_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 + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.846907 ms (missed cycles : 8).[0m ×2 + 0.88sINFOcontroller_managerReceived robot description from topic. + 0.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.88sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.88sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.05sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.08sINFOvideo_server2026/09/18 13:15:03 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.08sINFOvideo_server2026/09/18 13:15:03 INF configuration loaded from /tmp/moveit-webrtc-51a0b71m/mediamtx.yml ×2 + 1.08sINFOvideo_server2026/09/18 13:15:03 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.08sINFOvideo_server2026/09/18 13:15:03 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.57sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.57sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.63sINFOmove_group[2026-09-18 13:15:03.610] [moveit_pro_license] [info] ×2 + 1.63sINFOmove_group************************************************* ×4 + 1.63sINFOmove_group* MoveIt Pro License ×2 + 1.63sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.89sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.93sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.93sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.93sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.93sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.94sINFOros2_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 + 1.94sINFOros2_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 + 1.94sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.95sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.07sINFOmove_group ×4 + 2.07sINFOmove_group[92mYou can start planning now![0m ×2 + 2.27sINFOwaypoint_manager_node[2026-09-18 13:15:04.248] [moveit_pro_license] [info] ×2 + 2.27sINFOwaypoint_manager_node************************************************* ×4 + 2.27sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.27sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856693 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856693 ms (missed cycles : 3).[0m ×2 + 2.38sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.11sINFOobjective_server_node[2026-09-18 13:15:05.091] [moveit_pro_license] [info] ×2 + 3.11sINFOobjective_server_node************************************************* ×4 + 3.11sINFOobjective_server_node* MoveIt Pro License ×2 + 3.11sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.22sINFOobjective_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 + 3.22sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.23sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.23sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.23sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.23sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.23sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.52sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.52sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.90sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.90sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.90sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.90sWARNros2_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 + 3.90sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.90sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.90sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.90sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.90sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.90sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.90sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.90sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.90sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.90sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.90sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.90sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.90sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.90sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.90sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.90sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.90sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.08sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.08sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.08sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.08sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.08sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 4.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 4.09sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.09sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.11sINFOforce_torque_sensor_broadcasterconfigure successful + 4.11sINFOros2_control_nodeconfigure successful[0m ×2 + 4.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 4.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 4.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.34sINFOcomponent_container_mt[2026-09-18 13:15:06.323] [moveit_pro_license] [info] ×2 + 4.34sINFOcomponent_container_mt************************************************* ×4 + 4.34sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.34sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.39sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.39sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.39sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.39sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.41sINFOros2-2process has finished cleanly [pid 7215] ×2 + 4.58sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 4.58sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 4.61sINFOros2_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 + 4.61sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.61sWARNros2_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 + 4.62sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.62sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.62sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.62sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.63sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.65sINFOros2_control_node[2026-09-18 13:15:06.636] [info] Controller state will be published at 20 Hz. ×2 + 4.65sINFOros2_control_node[2026-09-18 13:15:06.637] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.66sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.97sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.97sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.97sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.97sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.98sINFOros2-8process has finished cleanly [pid 7221] ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091958 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091958 ms (missed cycles : 2).[0m ×2 + 5.04sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 5.04sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 5.09sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.09sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.09sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.09sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.12sINFOros2_control_node[2026-09-18 13:15:07.100] [info] Controller state will be published at 10 Hz. ×2 + 5.12sINFOros2_control_node[2026-09-18 13:15:07.101] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.35sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.42sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.42sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.42sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.42sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.42sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 5.42sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 5.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.44sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.44sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.46sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.46sINFOros2-7process has finished cleanly [pid 7220] ×2 + 5.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.78sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 5.78sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 5.81sINFOros2-3process has finished cleanly [pid 7216] ×2 + 5.84sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.84sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.84sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.84sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.84sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.84sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.85sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.85sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.85sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.85sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.86sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.01sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.01sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.01sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.01sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.01sINFOobjective_server_nodecaller: ×10 + 6.01sINFOobjective_server_nodetype: 0 ×10 + 6.01sINFOobjective_server_nodename: "" ×10 + 6.01sINFOobjective_server_nodeinstance_id: "" ×10 + 6.01sINFOobjective_server_node ×10 + 6.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737308.04377127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737308.05397820 seconds ×3 + 6.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.13sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.13sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.13sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.13sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.13sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 6.13sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 6.16sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.16sINFOros2-5process has finished cleanly [pid 7218] ×2 + 6.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.16sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.16sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.17sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.18sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.19sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.19sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.48sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.48sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.48sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.48sINFOros2-4process has finished cleanly [pid 7217] ×2 + 6.55sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 6.55sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 6.58sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.58sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.59sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.59sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.61sINFOros2_control_node[2026-09-18 13:15:08.593] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.61sINFOros2_control_node[2026-09-18 13:15:08.593] [info] Controller state will be published at 50 Hz. ×2 + 6.62sINFOros2_control_node[2026-09-18 13:15:08.599] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737308.64895201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4).[0m ×2 + 6.96sINFOros2-6process has finished cleanly [pid 7219] ×2 + 7.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 8.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.17sWARNros2_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 + 8.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 8.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 8.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 9.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.49sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 9.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2
✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 454 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737308.04377127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737308.05397820 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.12sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.12sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.12sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.12sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.12sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.12sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.15sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.15sINFOros2-5process has finished cleanly [pid 7218] ×2 + 0.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.16sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.18sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.18sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.47sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2-4process has finished cleanly [pid 7217] ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.54sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.58sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.58sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.58sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.58sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.61sINFOros2_control_node[2026-09-18 13:15:08.593] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.61sINFOros2_control_node[2026-09-18 13:15:08.593] [info] Controller state will be published at 50 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-18 13:15:08.599] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737308.64895201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.67sINFOros2_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 5.753417 ms (missed cycles : 4). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4).[0m ×2 + 0.95sINFOros2-6process has finished cleanly [pid 7219] ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.16sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_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: 1789737312.47083926 seconds ×3 + 4.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.02sINFOobjective_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 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 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 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.21sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 7.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
✓ passed	—	reset_planning_scene.xml	0.7s	25 warnings · 522 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.07sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.07sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.07sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.08sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.09sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.09sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.11sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.11sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.11sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.11sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.11sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.11sINFOros2-7process has finished cleanly [pid 7220] ×2 + 0.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.12sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.12sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.47sINFOros2-3process has finished cleanly [pid 7216] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.49sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.49sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.51sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737308.04377127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737308.05397820 seconds ×3 + 0.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.78sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.78sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.81sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOros2-5process has finished cleanly [pid 7218] ×2 + 0.82sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.84sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.84sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.84sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.13sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.13sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.13sINFOros2-4process has finished cleanly [pid 7217] ×2 + 1.20sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.20sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.24sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.24sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.24sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.24sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.26sINFOros2_control_node[2026-09-18 13:15:08.593] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.26sINFOros2_control_node[2026-09-18 13:15:08.593] [info] Controller state will be published at 50 Hz. ×2 + 1.27sINFOros2_control_node[2026-09-18 13:15:08.599] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737308.64895201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4).[0m ×2 + 1.61sINFOros2-6process has finished cleanly [pid 7219] ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_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 + 2.82sWARNros2_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 `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 5.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.87sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.1s	22 warnings · 322 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.79sINFOros2_control_node[2026-09-18 13:15:15.735] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-09-18 13:15:15.735] [info] Accepted new action goal ×2
− skipped	—	addtovector.xml	0.0s	9 warnings · 186 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/2026-09-18-13-15-01-618624-098f08119f3d-7166 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.64sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.65sINFOcontroller_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. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.846907 ms (missed cycles : 8). + 0.77sINFOros2_control_node-1process started with pid [7214] ×2 + 0.77sINFOmove_group-9process started with pid [7233] ×2 + 0.77sINFOparameter_manager_node-10process started with pid [7234] ×2 + 0.77sINFOwaypoint_manager_node-11process started with pid [7235] ×2 + 0.77sINFOmove_joint_resampler_node-12process started with pid [7236] ×2 + 0.77sINFOmove_end_effector_resampler_node-13process started with pid [7237] ×2 + 0.77sINFOobjective_server_node_main-14process started with pid [7238] ×2 + 0.77sINFOcomponent_container_mt-15process started with pid [7240] ×2 + 0.77sINFOcomponent_container_mt-16process started with pid [7258] ×2 + 0.77sINFOexecute_objective_bridge-17process started with pid [7259] ×2 + 0.77sINFOui_teleop_bridge-18process started with pid [7260] ×2 + 0.77sINFOweb_bridge-19process started with pid [7261] ×2 + 0.77sINFOtf2_web_republisher_node-20process started with pid [7328] ×2 + 0.77sINFOvideo_server-21process started with pid [7331] ×2 + 0.77sINFOweb_bridge_auth_proxy-22process started with pid [7332] ×2 + 0.77sINFOweb_video_auth_proxy-23process started with pid [7338] ×2 + 0.78sINFOros2-2process started with pid [7215] ×2 + 0.78sINFOros2-3process started with pid [7216] ×2 + 0.78sINFOros2-4process started with pid [7217] ×2 + 0.78sINFOros2-5process started with pid [7218] ×2 + 0.78sINFOros2-6process started with pid [7219] ×2 + 0.78sINFOros2-7process started with pid [7220] ×2 + 0.78sINFOros2-8process started with pid [7221] ×2 + 0.79sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.79sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.79sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.79sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.79sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.79sWARNros2_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 + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.846907 ms (missed cycles : 8).[0m ×2 + 0.88sINFOcontroller_managerReceived robot description from topic. + 0.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.88sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.88sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.05sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.08sINFOvideo_server2026/09/18 13:15:03 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.08sINFOvideo_server2026/09/18 13:15:03 INF configuration loaded from /tmp/moveit-webrtc-51a0b71m/mediamtx.yml ×2 + 1.08sINFOvideo_server2026/09/18 13:15:03 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.08sINFOvideo_server2026/09/18 13:15:03 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.57sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.57sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.63sINFOmove_group[2026-09-18 13:15:03.610] [moveit_pro_license] [info] ×2 + 1.63sINFOmove_group************************************************* ×4 + 1.63sINFOmove_group* MoveIt Pro License ×2 + 1.63sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.89sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.93sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.93sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.93sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.93sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.94sINFOros2_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 + 1.94sINFOros2_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 + 1.94sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.95sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.07sINFOmove_group ×4 + 2.07sINFOmove_group[92mYou can start planning now![0m ×2 + 2.27sINFOwaypoint_manager_node[2026-09-18 13:15:04.248] [moveit_pro_license] [info] ×2 + 2.27sINFOwaypoint_manager_node************************************************* ×4 + 2.27sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.27sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856693 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856693 ms (missed cycles : 3).[0m ×2 + 2.38sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.11sINFOobjective_server_node[2026-09-18 13:15:05.091] [moveit_pro_license] [info] ×2 + 3.11sINFOobjective_server_node************************************************* ×4 + 3.11sINFOobjective_server_node* MoveIt Pro License ×2 + 3.11sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.22sINFOobjective_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 + 3.22sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.23sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.23sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.23sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.23sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.23sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.52sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.52sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	27 warnings · 553 info
+ 0.00sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sINFOros2_control_node[2026-09-18 13:15:06.636] [info] Controller state will be published at 20 Hz. ×2 + 0.02sINFOros2_control_node[2026-09-18 13:15:06.637] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.03sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.33sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.33sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.33sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.35sINFOros2-8process has finished cleanly [pid 7221] ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091958 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091958 ms (missed cycles : 2).[0m ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.45sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.49sINFOros2_control_node[2026-09-18 13:15:07.100] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-09-18 13:15:07.101] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.78sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.79sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.79sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.79sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.80sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.80sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.83sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.83sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.83sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.83sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.83sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.83sINFOros2-7process has finished cleanly [pid 7220] ×2 + 0.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.84sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.84sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.15sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.18sINFOros2-3process has finished cleanly [pid 7216] ×2 + 1.21sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.22sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.22sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.22sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.22sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.22sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.37sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.37sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.37sINFOobjective_server_nodecaller: ×14 + 1.37sINFOobjective_server_nodetype: 0 ×14 + 1.37sINFOobjective_server_nodename: "" ×14 + 1.37sINFOobjective_server_nodeinstance_id: "" ×14 + 1.37sINFOobjective_server_node ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737308.04377127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737308.05397820 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.52sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.53sINFOros2-5process has finished cleanly [pid 7218] ×2 + 1.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.55sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.55sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.56sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.56sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.84sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.84sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.84sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2-4process has finished cleanly [pid 7217] ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.92sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.95sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.95sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.95sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.95sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.95sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.95sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.98sINFOros2_control_node[2026-09-18 13:15:08.593] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.98sINFOros2_control_node[2026-09-18 13:15:08.593] [info] Controller state will be published at 50 Hz. ×2 + 1.98sINFOros2_control_node[2026-09-18 13:15:08.599] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737308.64895201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4).[0m ×2 + 2.33sINFOros2-6process has finished cleanly [pid 7219] ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sWARNros2_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 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 6.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.59sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2
− skipped	—	createvector.xml	0.0s	27 warnings · 553 info
+ 0.00sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sINFOros2_control_node[2026-09-18 13:15:06.636] [info] Controller state will be published at 20 Hz. ×2 + 0.02sINFOros2_control_node[2026-09-18 13:15:06.637] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.03sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.33sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.33sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.33sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.35sINFOros2-8process has finished cleanly [pid 7221] ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091958 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091958 ms (missed cycles : 2).[0m ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.45sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.49sINFOros2_control_node[2026-09-18 13:15:07.100] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-09-18 13:15:07.101] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.78sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.79sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.79sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.79sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.80sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.80sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.83sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.83sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.83sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.83sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.83sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.83sINFOros2-7process has finished cleanly [pid 7220] ×2 + 0.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.84sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.84sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.15sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.18sINFOros2-3process has finished cleanly [pid 7216] ×2 + 1.21sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.22sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.22sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.22sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.22sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.22sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.37sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.37sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.37sINFOobjective_server_nodecaller: ×14 + 1.37sINFOobjective_server_nodetype: 0 ×14 + 1.37sINFOobjective_server_nodename: "" ×14 + 1.37sINFOobjective_server_nodeinstance_id: "" ×14 + 1.37sINFOobjective_server_node ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737308.04377127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737308.05397820 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.52sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.53sINFOros2-5process has finished cleanly [pid 7218] ×2 + 1.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.55sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.55sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.56sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.56sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.84sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.84sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.84sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2-4process has finished cleanly [pid 7217] ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.92sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.95sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.95sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.95sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.95sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.95sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.95sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.98sINFOros2_control_node[2026-09-18 13:15:08.593] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.98sINFOros2_control_node[2026-09-18 13:15:08.593] [info] Controller state will be published at 50 Hz. ×2 + 1.98sINFOros2_control_node[2026-09-18 13:15:08.599] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737308.64895201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4).[0m ×2 + 2.33sINFOros2-6process has finished cleanly [pid 7219] ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sWARNros2_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 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 6.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.59sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	27 warnings · 553 info
+ 0.00sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sINFOros2_control_node[2026-09-18 13:15:06.636] [info] Controller state will be published at 20 Hz. ×2 + 0.02sINFOros2_control_node[2026-09-18 13:15:06.637] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.03sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.33sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.33sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.33sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.35sINFOros2-8process has finished cleanly [pid 7221] ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091958 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091958 ms (missed cycles : 2).[0m ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.45sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.49sINFOros2_control_node[2026-09-18 13:15:07.100] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-09-18 13:15:07.101] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.78sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.79sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.79sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.79sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.80sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.80sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.83sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.83sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.83sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.83sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.83sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.83sINFOros2-7process has finished cleanly [pid 7220] ×2 + 0.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.84sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.84sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.15sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.18sINFOros2-3process has finished cleanly [pid 7216] ×2 + 1.21sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.22sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.22sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.22sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.22sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.22sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.37sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.37sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.37sINFOobjective_server_nodecaller: ×14 + 1.37sINFOobjective_server_nodetype: 0 ×14 + 1.37sINFOobjective_server_nodename: "" ×14 + 1.37sINFOobjective_server_nodeinstance_id: "" ×14 + 1.37sINFOobjective_server_node ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737308.04377127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737308.05397820 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.52sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.53sINFOros2-5process has finished cleanly [pid 7218] ×2 + 1.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.55sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.55sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.56sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.56sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.84sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.84sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.84sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2-4process has finished cleanly [pid 7217] ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.92sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.95sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.95sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.95sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.95sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.95sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.95sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.98sINFOros2_control_node[2026-09-18 13:15:08.593] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.98sINFOros2_control_node[2026-09-18 13:15:08.593] [info] Controller state will be published at 50 Hz. ×2 + 1.98sINFOros2_control_node[2026-09-18 13:15:08.599] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737308.64895201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4).[0m ×2 + 2.33sINFOros2-6process has finished cleanly [pid 7219] ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sWARNros2_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 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 6.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.59sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2
− skipped	—	request_teleoperation.xml	0.0s	25 warnings · 522 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.07sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.07sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.07sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.08sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.09sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.09sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.11sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.11sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.11sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.11sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.11sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.11sINFOros2-7process has finished cleanly [pid 7220] ×2 + 0.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.12sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.12sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.47sINFOros2-3process has finished cleanly [pid 7216] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.49sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.49sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.51sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737308.04377127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737308.05397820 seconds ×3 + 0.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.78sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.78sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.81sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOros2-5process has finished cleanly [pid 7218] ×2 + 0.82sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.84sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.84sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.84sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.13sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.13sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.13sINFOros2-4process has finished cleanly [pid 7217] ×2 + 1.20sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 1.20sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 1.24sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.24sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.24sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.24sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.26sINFOros2_control_node[2026-09-18 13:15:08.593] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.26sINFOros2_control_node[2026-09-18 13:15:08.593] [info] Controller state will be published at 50 Hz. ×2 + 1.27sINFOros2_control_node[2026-09-18 13:15:08.599] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737308.64895201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4).[0m ×2 + 1.61sINFOros2-6process has finished cleanly [pid 7219] ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_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 + 2.82sWARNros2_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 `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 5.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.87sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2
− skipped	—	teleoperate.xml	0.0s	22 warnings · 446 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737308.04377127 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737308.05397820 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.12sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.12sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.12sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.12sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.12sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.12sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.15sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.15sINFOros2-5process has finished cleanly [pid 7218] ×2 + 0.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.16sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.18sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.18sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.47sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2-4process has finished cleanly [pid 7217] ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w + 0.54sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ai0qr2uy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_nlh72kh0 --params-file /tmp/launch_params_o_nf7w2w [0m ×2 + 0.58sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.58sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.58sINFOros2_control_node[2026-09-18 13:15:08.568] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.58sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.61sINFOros2_control_node[2026-09-18 13:15:08.593] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.61sINFOros2_control_node[2026-09-18 13:15:08.593] [info] Controller state will be published at 50 Hz. ×2 + 0.61sINFOros2_control_node[2026-09-18 13:15:08.599] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737308.64895201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_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 5.753417 ms (missed cycles : 4). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753417 ms (missed cycles : 4).[0m ×2 + 0.95sINFOros2-6process has finished cleanly [pid 7219] ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.16sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_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: 1789737312.47083926 seconds ×3 + 4.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.02sINFOobjective_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 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 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 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.21sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2

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

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− skipped	—	execute_mtc_solution.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	move_to_joint_state.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	move_to_pose.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	move_to_waypoint.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	track_moving_frame.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	25 warnings · 324 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.79sINFOros2_control_node[2026-09-18 13:15:15.735] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-09-18 13:15:15.735] [info] Accepted new action goal ×2 + 6.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578816 ms (missed cycles : 5). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578816 ms (missed cycles : 5).[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
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.79sINFOros2_control_node[2026-09-18 13:15:15.735] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-09-18 13:15:15.735] [info] Accepted new action goal ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	collect_calibration_samples.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2

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

3 skip

− skipped	—	visualize_tf.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	interactive_marker_visualization.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	22 warnings · 316 info
+ 0.00sINFOros2-6process has finished cleanly [pid 7219] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737309.55912304 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399140 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.20sINFOobjective_server_nodecaller: ×10 + 1.20sINFOobjective_server_nodetype: 0 ×10 + 1.20sINFOobjective_server_nodename: "" ×10 + 1.20sINFOobjective_server_nodeinstance_id: "" ×10 + 1.20sINFOobjective_server_node ×10 + 1.21sWARNros2_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 + 1.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737310.18972135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737310.24987078 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737310.90992403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737310.93007898 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616035 ms (missed cycles : 4).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737311.52109504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737311.67163777 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.316669 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737312.41071057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737312.47083926 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168284 ms (missed cycles : 5).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737313.07637954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.1835e-05 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 13:15:13.202] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800322 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663477 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2