129
Total objective tests
32
Objectives passed
0
Objectives failed
97
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 161 warnings · 18840 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868289 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868289 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794564 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794564 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033086 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033086 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789738021.61323118 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sWARNros2_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 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×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 + 2.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789738022.21959662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.082080 ms (missed cycles : 11). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.082080 ms (missed cycles : 11).[0m ×2 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.10sINFOros2_control_node[2026-09-18 13:27:02.383] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-09-18 13:27:02.383] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845530 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845530 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_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 ×6 + 4.37sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723154 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723154 ms (missed cycles : 2).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147399 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147399 ms (missed cycles : 4).[0m ×2 + 6.59sINFOjoint_trajectory_controllerReceived new action goal ×3096 + 6.59sINFOjoint_trajectory_controllerAccepted new action goal ×3096 + 6.59sINFOros2_control_nodeReceived new action goal[0m ×6192 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×6192 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138565 ms (missed cycles : 4). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138565 ms (missed cycles : 4).[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745515 ms (missed cycles : 2). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745515 ms (missed cycles : 2).[0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626559 ms (missed cycles : 8). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.626559 ms (missed cycles : 8).[0m ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144773 ms (missed cycles : 2). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144773 ms (missed cycles : 2).[0m ×2 + 10.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×4 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124592 ms (missed cycles : 3). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124592 ms (missed cycles : 3).[0m ×2 + 11.45sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.45sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.45sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.45sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.45sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624024 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624024 ms (missed cycles : 2).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771969 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771969 ms (missed cycles : 2).[0m ×2 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259336 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259336 ms (missed cycles : 2).[0m ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728424 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728424 ms (missed cycles : 2).[0m ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681294 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681294 ms (missed cycles : 2).[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816272 ms (missed cycles : 3). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816272 ms (missed cycles : 3).[0m ×2 + 17.80sWARNros2_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 ×4 + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751911 ms (missed cycles : 2). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751911 ms (missed cycles : 2).[0m ×2 + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556075 ms (missed cycles : 2). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556075 ms (missed cycles : 2).[0m ×2 + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475182 ms (missed cycles : 2). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475182 ms (missed cycles : 2).[0m ×2 + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872957 ms (missed cycles : 2). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872957 ms (missed cycles : 2).[0m ×2 + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851979 ms (missed cycles : 2). + 22.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851979 ms (missed cycles : 2).[0m ×2 + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740120 ms (missed cycles : 2). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740120 ms (missed cycles : 2).[0m ×2 + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875950 ms (missed cycles : 2). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875950 ms (missed cycles : 2).[0m ×2 + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166464 ms (missed cycles : 2). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166464 ms (missed cycles : 2).[0m ×2 + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786681 ms (missed cycles : 2). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786681 ms (missed cycles : 2).[0m ×2 + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117367 ms (missed cycles : 2). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117367 ms (missed cycles : 2).[0m ×2 + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358525 ms (missed cycles : 2). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358525 ms (missed cycles : 2).[0m ×2 + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220396 ms (missed cycles : 2). + 29.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220396 ms (missed cycles : 2).[0m ×2 + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986250 ms (missed cycles : 2). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986250 ms (missed cycles : 2).[0m ×2 + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419401 ms (missed cycles : 2). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419401 ms (missed cycles : 2).[0m ×2 + 32.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475769 ms (missed cycles : 4). + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475769 ms (missed cycles : 4).[0m ×2 + 33.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539685 ms (missed cycles : 2). + 33.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539685 ms (missed cycles : 2).[0m ×2 + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193045 ms (missed cycles : 2). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193045 ms (missed cycles : 2).[0m ×2 + 35.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118098 ms (missed cycles : 2). + 35.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118098 ms (missed cycles : 2).[0m ×2 + 36.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674828 ms (missed cycles : 2). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674828 ms (missed cycles : 2).[0m ×2 + 37.85sWARNros2_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 + 37.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688953 ms (missed cycles : 2). + 37.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688953 ms (missed cycles : 2).[0m ×2 + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078188 ms (missed cycles : 2). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078188 ms (missed cycles : 2).[0m ×2 + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805740 ms (missed cycles : 2). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805740 ms (missed cycles : 2).[0m ×2 + 40.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147256 ms (missed cycles : 2). + 40.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147256 ms (missed cycles : 2).[0m ×2 + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435820 ms (missed cycles : 2). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435820 ms (missed cycles : 2).[0m ×2 + 43.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760467 ms (missed cycles : 2). + 43.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760467 ms (missed cycles : 2).[0m ×2 + 44.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444663 ms (missed cycles : 3). + 44.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444663 ms (missed cycles : 3).[0m ×2 + 44.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755733 ms (missed cycles : 2). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755733 ms (missed cycles : 2).[0m ×2 + 46.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734546 ms (missed cycles : 2). + 46.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734546 ms (missed cycles : 2).[0m ×2 + 46.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789738066.14427042 seconds ×3 + 46.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.40sINFOobjective_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: ""
+ 47.40sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.52sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789738066.79913473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330559 ms (missed cycles : 2). + 47.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330559 ms (missed cycles : 2).[0m ×2 + 47.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.66sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 47.67sINFOros2_control_node[2026-09-18 13:27:46.952] [info] Received new action goal ×2 + 47.67sINFOros2_control_node[2026-09-18 13:27:46.952] [info] Accepted new action goal ×2 + 47.97sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291003 ms (missed cycles : 2). + 48.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291003 ms (missed cycles : 2).[0m ×2 + 49.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198028 ms (missed cycles : 2). + 49.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198028 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.0s | 151 warnings · 342 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 ×6 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.04sINFOobjective_server_nodecaller: ×6 + 0.04sINFOobjective_server_nodetype: 0 ×6 + 0.04sINFOobjective_server_nodename: "" ×6 + 0.04sINFOobjective_server_nodeinstance_id: "" ×6 + 0.04sINFOobjective_server_node ×6 + 0.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737964.87364960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Accepted new action goal ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737967.00377345 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737968.64694977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_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 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2).[0m ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 7.14sINFOros2_control_node[2026-09-18 13:26:11.921] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-09-18 13:26:11.921] [info] Accepted new action goal ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876477 ms (missed cycles : 3). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876477 ms (missed cycles : 3).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703275 ms (missed cycles : 4). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703275 ms (missed cycles : 4).[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.721952 ms (missed cycles : 5). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.721952 ms (missed cycles : 5).[0m ×2 + 10.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.27sINFOros2_control_node[2026-09-18 13:26:15.051] [info] Received new action goal ×2 + 10.27sINFOros2_control_node[2026-09-18 13:26:15.051] [info] Accepted new action goal ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408313 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408313 ms (missed cycles : 2).[0m ×2 + 12.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296319 ms (missed cycles : 3). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296319 ms (missed cycles : 3).[0m ×2 + 13.24sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 13.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.30sINFOros2_control_node[2026-09-18 13:26:18.074] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-09-18 13:26:18.074] [info] Accepted new action goal ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307500 ms (missed cycles : 3). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307500 ms (missed cycles : 3).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247988 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247988 ms (missed cycles : 3).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450890 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450890 ms (missed cycles : 2).[0m ×2 + 16.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.26sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.26sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.26sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.26sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014642 ms (missed cycles : 5). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014642 ms (missed cycles : 5).[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821156 ms (missed cycles : 2). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821156 ms (missed cycles : 2).[0m ×2 + 18.94sWARNros2_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 + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677771 ms (missed cycles : 3). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677771 ms (missed cycles : 3).[0m ×2 + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945560 ms (missed cycles : 3). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945560 ms (missed cycles : 3).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226153 ms (missed cycles : 3). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226153 ms (missed cycles : 3).[0m ×2 + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993991 ms (missed cycles : 3). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993991 ms (missed cycles : 3).[0m ×2 + 23.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.05sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.06sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.06sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.06sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531809 ms (missed cycles : 2). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531809 ms (missed cycles : 2).[0m ×2 + 24.03sINFOros2_control_node[2026-09-18 13:26:28.806] [info] Received new action goal ×2 + 24.03sINFOros2_control_node[2026-09-18 13:26:28.806] [info] Accepted new action goal ×2 + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899659 ms (missed cycles : 3). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899659 ms (missed cycles : 3).[0m ×2 + 25.18sINFOobjective_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 + 25.19sINFOobjective_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 + 25.48sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 25.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.53sINFOros2_control_node[2026-09-18 13:26:30.308] [info] Received new action goal ×2 + 25.53sINFOros2_control_node[2026-09-18 13:26:30.308] [info] Accepted new action goal ×2 + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.512375 ms (missed cycles : 7). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.512375 ms (missed cycles : 7).[0m ×2 + 26.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661870 ms (missed cycles : 5). + 26.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661870 ms (missed cycles : 5).[0m ×2 + 27.66sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 27.66sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.67sINFOros2_control_node[2026-09-18 13:26:32.445] [info] Received new action goal ×2 + 27.67sINFOros2_control_node[2026-09-18 13:26:32.445] [info] Accepted new action goal ×2 + 27.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445647 ms (missed cycles : 2). + 27.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445647 ms (missed cycles : 2).[0m ×2 + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.786431 ms (missed cycles : 6). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.786431 ms (missed cycles : 6).[0m ×2 + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933474 ms (missed cycles : 2). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933474 ms (missed cycles : 2).[0m ×2 + 30.67sINFOros2_control_node[2026-09-18 13:26:35.445] [info] Received new action goal ×2 + 30.67sINFOros2_control_node[2026-09-18 13:26:35.445] [info] Accepted new action goal ×2 + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.134334 ms (missed cycles : 6). + 30.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.134334 ms (missed cycles : 6).[0m ×2 + 31.18sWARNros2_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 + 31.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.557752 ms (missed cycles : 4). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.557752 ms (missed cycles : 4).[0m ×2 + 32.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369698 ms (missed cycles : 2). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369698 ms (missed cycles : 2).[0m ×2 + 33.26sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 33.26sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.31sINFOros2_control_node[2026-09-18 13:26:38.088] [info] Received new action goal ×2 + 33.31sINFOros2_control_node[2026-09-18 13:26:38.088] [info] Accepted new action goal ×2 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.827707 ms (missed cycles : 6). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.827707 ms (missed cycles : 6).[0m ×2 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656267 ms (missed cycles : 2). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656267 ms (missed cycles : 2).[0m ×2 + 36.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163892 ms (missed cycles : 2). + 36.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163892 ms (missed cycles : 2).[0m ×2 + 37.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320009 ms (missed cycles : 2). + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320009 ms (missed cycles : 2).[0m ×2 + 38.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775103 ms (missed cycles : 2). + 38.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775103 ms (missed cycles : 2).[0m ×2 + 39.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.812851 ms (missed cycles : 5). + 39.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.812851 ms (missed cycles : 5).[0m ×2 + 40.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709914 ms (missed cycles : 2). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709914 ms (missed cycles : 2).[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266334 ms (missed cycles : 2). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266334 ms (missed cycles : 2).[0m ×2 + 42.47sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028124 ms (missed cycles : 2). + 42.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028124 ms (missed cycles : 2).[0m ×2 + 43.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306577 ms (missed cycles : 2). + 43.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306577 ms (missed cycles : 2).[0m ×2 + 44.07sINFOros2_control_node[2026-09-18 13:26:48.846] [info] Received new action goal ×2 + 44.07sINFOros2_control_node[2026-09-18 13:26:48.846] [info] Accepted new action goal ×2 + 44.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804844 ms (missed cycles : 2). + 44.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804844 ms (missed cycles : 2).[0m ×2 + 45.22sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789738010.00297284 seconds ×3 + 45.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188157 ms (missed cycles : 2). + 45.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188157 ms (missed cycles : 2).[0m ×2 + 45.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.82sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.02sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789738010.80129814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908946 ms (missed cycles : 3). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908946 ms (missed cycles : 3).[0m ×2 + 47.04sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 47.06sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.08sINFOros2_control_node[2026-09-18 13:26:51.856] [info] Received new action goal ×2 + 47.08sINFOros2_control_node[2026-09-18 13:26:51.856] [info] Accepted new action goal ×2 + 47.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253617 ms (missed cycles : 3). + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253617 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 · 13410 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2202 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2202 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4404 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4404 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444663 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444663 ms (missed cycles : 3).[0m ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755733 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755733 ms (missed cycles : 2).[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734546 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734546 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789738066.14427042 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789738066.79913473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330559 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330559 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.11sINFOros2_control_node[2026-09-18 13:27:46.952] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-18 13:27:46.952] [info] Accepted new action goal ×2 + 4.40sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291003 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291003 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.41sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198028 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198028 ms (missed cycles : 2).[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180284 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180284 ms (missed cycles : 2).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696854 ms (missed cycles : 2). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696854 ms (missed cycles : 2).[0m ×2 + 8.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183148 ms (missed cycles : 2). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183148 ms (missed cycles : 2).[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915230 ms (missed cycles : 2). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915230 ms (missed cycles : 2).[0m ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841714 ms (missed cycles : 2). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841714 ms (missed cycles : 2).[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222545 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222545 ms (missed cycles : 2).[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372113 ms (missed cycles : 2). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372113 ms (missed cycles : 2).[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719519 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719519 ms (missed cycles : 2).[0m ×2 + 15.37sWARNros2_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 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367168 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367168 ms (missed cycles : 2).[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079728 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079728 ms (missed cycles : 2).[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810279 ms (missed cycles : 2). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810279 ms (missed cycles : 2).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506456 ms (missed cycles : 7). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.506456 ms (missed cycles : 7).[0m ×2 + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006148 ms (missed cycles : 2). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006148 ms (missed cycles : 2).[0m ×2 + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837026 ms (missed cycles : 2). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837026 ms (missed cycles : 2).[0m ×2 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885896 ms (missed cycles : 2). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885896 ms (missed cycles : 2).[0m ×2 + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6).[0m ×2 + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2). + 23.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2).[0m ×2 + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2).[0m ×2 + 25.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789738088.28883243 seconds ×3 + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2).[0m ×2 + 26.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789738089.01495028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.36sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 26.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.37sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Received new action goal ×2 + 26.37sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Accepted new action goal ×2 + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2).[0m ×2 + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3). + 28.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 57 warnings · 244 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.95e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00328815 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOros2_control_node[2026-09-18 13:25:48.890] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-18 13:25:48.890] [info] Accepted new action goal ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898188 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898188 ms (missed cycles : 2).[0m ×2 + 0.82sINFOros2_control_node[2026-09-18 13:25:49.322] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-18 13:25:49.322] [info] Accepted new action goal ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.864506 ms (missed cycles : 5). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.864506 ms (missed cycles : 5).[0m ×2 + 2.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295974 ms (missed cycles : 5). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295974 ms (missed cycles : 5).[0m ×2 + 3.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.07sINFOros2_control_node[2026-09-18 13:25:51.577] [info] Received new action goal ×2 + 3.07sINFOros2_control_node[2026-09-18 13:25:51.577] [info] Accepted new action goal ×2 + 3.08sINFOobjective_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 + 3.09sINFOros2_control_node[2026-09-18 13:25:51.594] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-09-18 13:25:51.594] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789737951.59889674 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.56sWARNros2_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 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.63sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.63sINFOobjective_server_nodecaller: ×6 + 3.63sINFOobjective_server_nodetype: 0 ×6 + 3.63sINFOobjective_server_nodename: "" ×6 + 3.63sINFOobjective_server_nodeinstance_id: "" ×6 + 3.63sINFOobjective_server_node ×6 + 3.75sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789737952.25804353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216702 ms (missed cycles : 4). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216702 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.95sINFOros2_control_node[2026-09-18 13:25:52.452] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-09-18 13:25:52.452] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858500 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858500 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188471 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188471 ms (missed cycles : 5).[0m ×2 + 6.47sINFOros2_control_node[2026-09-18 13:25:54.975] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-18 13:25:54.975] [info] Accepted new action goal ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129353 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129353 ms (missed cycles : 2).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743065 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743065 ms (missed cycles : 2).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642095 ms (missed cycles : 4). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642095 ms (missed cycles : 4).[0m ×2 + 10.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224840 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224840 ms (missed cycles : 2).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727756 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727756 ms (missed cycles : 2).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887526 ms (missed cycles : 3). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887526 ms (missed cycles : 3).[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075709 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075709 ms (missed cycles : 2).[0m ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816511 ms (missed cycles : 2). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816511 ms (missed cycles : 2).[0m ×2 + 15.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789737963.54119349 seconds ×3 + 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: 1789737964.20407844 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 + 15.77sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789737964.27423525 seconds ×3 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685066 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685066 ms (missed cycles : 2).[0m ×2 + 16.27sWARNros2_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 + 16.31sINFOobjective_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 + 16.37sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737964.87364960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.48sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 16.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.49sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Received new action goal ×2 + 16.49sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Accepted new action goal ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5).[0m ×2 + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2).[0m ×2 + 18.50sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737967.00377345 seconds ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.7s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_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 + 1.45sERRORobjective_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: 1789737905.59295321 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.07sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.07sINFOobjective_server_nodecaller: ×8 + 2.07sINFOobjective_server_nodetype: 0 ×8 + 2.07sINFOobjective_server_nodename: "" ×8 + 2.07sINFOobjective_server_nodeinstance_id: "" ×8 + 2.07sINFOobjective_server_node ×8 + 2.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737906.25902390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737906.34914684 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737906.99416828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.07sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Received new action goal ×2 + 3.07sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Accepted new action goal ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709378 ms (missed cycles : 8). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709378 ms (missed cycles : 8).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350128 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350128 ms (missed cycles : 5).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816251 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816251 ms (missed cycles : 2).[0m ×2 + 7.98sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.98sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.99sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 8.39sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 1 iterations (0.0041485 s). ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071172 ms (missed cycles : 5). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071172 ms (missed cycles : 5).[0m ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.65sINFOros2_control_node[2026-09-18 13:25:12.787] [info] Received new action goal ×2 + 8.65sINFOros2_control_node[2026-09-18 13:25:12.787] [info] Accepted new action goal ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750806 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750806 ms (missed cycles : 2).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587026 ms (missed cycles : 4). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587026 ms (missed cycles : 4).[0m ×2 + 10.95sINFOros2_control_node[2026-09-18 13:25:15.090] [info] Received new action goal ×2 + 10.95sINFOros2_control_node[2026-09-18 13:25:15.090] [info] Accepted new action goal ×2 + 11.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2).[0m ×2 + 12.57sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.58sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Received new action goal ×2 + 12.58sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Accepted new action goal ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2).[0m ×2 + 13.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737918.01851368 seconds ×3 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737918.65101552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737918.73115492 seconds ×3 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4).[0m ×2 + 15.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.18sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737919.37513328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.35sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 15.35sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.36sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Received new action goal ×2 + 15.36sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Accepted new action goal ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3).[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5).[0m ×2 + 17.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 222 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028124 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028124 ms (missed cycles : 2).[0m ×2 + 0.68sINFOobjective_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 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.68sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.68sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.68sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306577 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306577 ms (missed cycles : 2).[0m ×2 + 1.55sWARNros2_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 + 1.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.60sINFOros2_control_node[2026-09-18 13:26:48.846] [info] Received new action goal ×2 + 1.60sINFOros2_control_node[2026-09-18 13:26:48.846] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804844 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804844 ms (missed cycles : 2).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789738010.00297284 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[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 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188157 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188157 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Push Button" ×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 + 3.55sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789738010.80129814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908946 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908946 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.61sINFOros2_control_node[2026-09-18 13:26:51.856] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-09-18 13:26:51.856] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253617 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253617 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192426 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192426 ms (missed cycles : 5).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.423674 ms (missed cycles : 5). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.423674 ms (missed cycles : 5).[0m ×2 + 7.75sWARNros2_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 + 8.30sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.30sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.31sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.31sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.31sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117487 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117487 ms (missed cycles : 2).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207805 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207805 ms (missed cycles : 2).[0m ×2 + 10.73sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 10.75sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.76sINFOros2_control_node[2026-09-18 13:26:58.007] [info] Received new action goal ×2 + 10.76sINFOros2_control_node[2026-09-18 13:26:58.007] [info] Accepted new action goal ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474670 ms (missed cycles : 4). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474670 ms (missed cycles : 4).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868289 ms (missed cycles : 3). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868289 ms (missed cycles : 3).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794564 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794564 ms (missed cycles : 2).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033086 ms (missed cycles : 2). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033086 ms (missed cycles : 2).[0m ×2 + 14.36sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789738021.61323118 seconds ×3 + 14.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 14.90sINFOobjective_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: ""
+ 14.90sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789738022.21959662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.082080 ms (missed cycles : 11). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.082080 ms (missed cycles : 11).[0m ×2 + 15.13sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 15.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.14sINFOros2_control_node[2026-09-18 13:27:02.383] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-09-18 13:27:02.383] [info] Accepted new action goal ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845530 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845530 ms (missed cycles : 3).[0m ×2 + 16.40sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.41sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723154 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723154 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 61 errors · 42 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3).[0m ×2 + 0.51sINFOobjective_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 + 0.52sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Got request to cancel active goal. ×2 + 0.52sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Canceling active goal... ×2 + 0.52sERRORobjective_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: 1789738143.99487185 seconds ×3 + 0.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.54sINFOros2_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 2.088105 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088105 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.06sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.06sINFOobjective_server_nodecaller: ×8 + 1.06sINFOobjective_server_nodetype: 0 ×8 + 1.06sINFOobjective_server_nodename: "" ×8 + 1.06sINFOobjective_server_nodeinstance_id: "" ×8 + 1.06sINFOobjective_server_node ×8 + 1.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738144.59158421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789738145.17170334 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.30sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789738145.77116132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.30sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.30sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.30sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789738145.77308583 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789738146.42120981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789738146.47218180 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789738147.06942010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.755020 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.755020 ms (missed cycles : 5).[0m ×2 + 4.41sWARNros2_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 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789738148.25955057 seconds ×3 + 4.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245075 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245075 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630986 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630986 ms (missed cycles : 3).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672866 ms (missed cycles : 4). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672866 ms (missed cycles : 4).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214800 ms (missed cycles : 5). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214800 ms (missed cycles : 5).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.687211 ms (missed cycles : 7). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.687211 ms (missed cycles : 7).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794896 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794896 ms (missed cycles : 2).[0m ×2 + 10.42sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.44sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.44sERRORweb_video_auth_proxy-23process has died [pid 7355, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.44sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.45sERRORweb_bridge_auth_proxy-22process has died [pid 7354, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.45sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.45sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.46sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.46sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.47sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.47sINFOvideo_server-21process has finished cleanly [pid 7353] ×2 + 10.48sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.48sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.49sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.49sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.50sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.50sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.50sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.51sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.51sINFOcontroller_managerShutdown request received.... + 10.51sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.51sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.51sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.51sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.51sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.51sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.51sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.51sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.51sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.51sINFOvideo_server2026/09/18 13:29:13 INF shutting down gracefully ×2 + 10.51sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.51sINFOvideo_server2026/09/18 13:29:13 INF [WebRTC] closing ×2 + 10.51sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.51sINFOvideo_server2026/09/18 13:29:13 INF [RTSP] closing ×2 + 10.51sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.51sINFOvideo_server2026/09/18 13:29:13 INF waiting for running hooks ×2 + 10.51sINFOcontroller_managerShutting down the controller manager. + 10.51sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.51sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.51sERRORmove_groupStack trace (most recent call last) in thread 7698: ×2 + 10.51sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.51sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.51sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.52sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.52sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.52sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.52sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.52sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.52sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.52sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.52sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.52sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.52sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.52sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.52sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.52sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4395d2aa63, in __clone ×2 + 10.52sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4395c9daa3, in ×2 + 10.52sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4395f2fdb3, in ×2 + 10.52sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f4396693b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.52sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f43962c1620, in rclcpp::Rate::sleep() ×2 + 10.52sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4396203d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.52sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f43961c5087, in ×2 + 10.52sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.52sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4395efe390, in __cxa_throw ×2 + 10.52sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4395ee8a54, in std::terminate() ×2 + 10.52sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4395efe0d9, in ×2 + 10.52sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4395ee8ff4, in ×2 + 10.52sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4395c298fe, in abort ×2 + 10.52sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4395c4627d, in raise ×2 + 10.52sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4395c9fb2c, in pthread_kill ×2 + 10.52sERRORmove_groupAborted (Signal sent by tkill() 7271 0) ×2 + 10.53sERRORmove_group-9process has died [pid 7271, 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_64zxm5fy --params-file /tmp/launch_params_3_v6yu0i --params-file /tmp/launch_params_8z96be4k --params-file /tmp/launch_params_i63xdd4t --params-file /tmp/launch_params_rv9s3su0 --params-file /tmp/launch_params_74qwy2tb']. ×2 + 10.72sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.72sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.72sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.51sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7352] ×2 + 11.51sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.53sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7275] ×2 + 11.54sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7274] ×2 + 11.57sINFOparameter_manager_node-10process has finished cleanly [pid 7272] ×2 + 11.57sINFOexecute_objective_bridge-17process has finished cleanly [pid 7279] ×2 + 11.57sINFOwaypoint_manager_node-11process has finished cleanly [pid 7273] ×2 + 11.58sINFOui_teleop_bridge-18process has finished cleanly [pid 7280] ×2 + 11.63sINFOcomponent_container_mt-16process has finished cleanly [pid 7278] ×2 + 11.64sINFOobjective_server_node[0;m[2026-09-18 13:29:15.111] [moveit_pro_license] [critical] ×2 + 11.64sINFOobjective_server_node************************************************* ×4 + 11.64sINFOobjective_server_node* MoveIt Pro License ×2 + 11.64sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.77sINFOobjective_server_node_main-14process has finished cleanly [pid 7276] ×2 + 11.77sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.67sINFOcomponent_container_mt-15process has finished cleanly [pid 7277] ×2 + 12.97sINFOweb_bridge-19process has finished cleanly [pid 7281] ×2 + 12.97sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.15sINFOros2_control_node-1process has finished cleanly [pid 7220] ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 57 warnings · 217 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789737937.69198537 seconds ×3 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087198 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087198 ms (missed cycles : 2).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138979 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138979 ms (missed cycles : 3).[0m ×2 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876981 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876981 ms (missed cycles : 3).[0m ×2 + 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 + 3.10sINFOros2_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 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.762672 ms (missed cycles : 6). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.762672 ms (missed cycles : 6).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789737941.12338257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (1.94e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.95sINFOros2_control_node[2026-09-18 13:25:41.338] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-09-18 13:25:41.338] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792403 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792403 ms (missed cycles : 3).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885909 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885909 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428673 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428673 ms (missed cycles : 2).[0m ×2 + 7.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.49sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (5.43e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (2.04e-07 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 5 iterations (0.00507734 s). ×2 + 8.03sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798094 ms (missed cycles : 2). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798094 ms (missed cycles : 2).[0m ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (2.26e-07 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.59sINFOros2_control_node[2026-09-18 13:25:45.980] [info] Received new action goal ×2 + 8.59sINFOros2_control_node[2026-09-18 13:25:45.980] [info] Accepted new action goal ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601429 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601429 ms (missed cycles : 3).[0m ×2 + 9.86sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042080 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042080 ms (missed cycles : 2).[0m ×2 + 11.11sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 11.11sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (1.95e-07 s). ×2 + 11.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). ×2 + 11.27sINFOobjective_server_nodeFound path in 1 iterations (0.00328815 s). ×2 + 11.42sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.50sINFOros2_control_node[2026-09-18 13:25:48.890] [info] Received new action goal ×2 + 11.50sINFOros2_control_node[2026-09-18 13:25:48.890] [info] Accepted new action goal ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898188 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898188 ms (missed cycles : 2).[0m ×2 + 11.93sINFOros2_control_node[2026-09-18 13:25:49.322] [info] Received new action goal ×2 + 11.93sINFOros2_control_node[2026-09-18 13:25:49.322] [info] Accepted new action goal ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.864506 ms (missed cycles : 5). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.864506 ms (missed cycles : 5).[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295974 ms (missed cycles : 5). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295974 ms (missed cycles : 5).[0m ×2 + 14.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.19sINFOros2_control_node[2026-09-18 13:25:51.577] [info] Received new action goal ×2 + 14.19sINFOros2_control_node[2026-09-18 13:25:51.577] [info] Accepted new action goal ×2 + 14.20sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.20sINFOros2_control_node[2026-09-18 13:25:51.594] [info] Got request to cancel active goal. ×2 + 14.20sINFOros2_control_node[2026-09-18 13:25:51.594] [info] Canceling active goal... ×2 + 14.21sERRORobjective_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: 1789737951.59889674 seconds ×3 + 14.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 14.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.75sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.87sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789737952.25804353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216702 ms (missed cycles : 4). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216702 ms (missed cycles : 4).[0m ×2 + 15.04sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 15.06sINFOros2_control_node[2026-09-18 13:25:52.452] [info] Received new action goal ×2 + 15.06sINFOros2_control_node[2026-09-18 13:25:52.452] [info] Accepted new action goal ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858500 ms (missed cycles : 3). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858500 ms (missed cycles : 3).[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188471 ms (missed cycles : 5). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188471 ms (missed cycles : 5).[0m ×2 + 17.58sINFOros2_control_node[2026-09-18 13:25:54.975] [info] Received new action goal ×2 + 17.58sINFOros2_control_node[2026-09-18 13:25:54.975] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 57 warnings · 2238 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×340 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×340 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×680 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×680 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789738088.28883243 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.92sINFOobjective_server_nodecaller: ×4 + 3.92sINFOobjective_server_nodetype: 0 ×4 + 3.92sINFOobjective_server_nodename: "" ×4 + 3.92sINFOobjective_server_nodeinstance_id: "" ×4 + 3.92sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789738089.01495028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3).[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219334 ms (missed cycles : 5). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219334 ms (missed cycles : 5).[0m ×2 + 7.07sWARNros2_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 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973693 ms (missed cycles : 2). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973693 ms (missed cycles : 2).[0m ×2 + 8.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.38sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.67sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.69sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 1 iterations (0.00364169 s). ×2 + 8.93sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.98sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.00sINFOros2_control_node[2026-09-18 13:28:13.992] [info] Received new action goal ×2 + 9.00sINFOros2_control_node[2026-09-18 13:28:13.992] [info] Accepted new action goal ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809740 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809740 ms (missed cycles : 2).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.327182 ms (missed cycles : 6). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.327182 ms (missed cycles : 6).[0m ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4).[0m ×2 + 11.30sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Received new action goal ×2 + 11.30sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Accepted new action goal ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3).[0m ×2 + 12.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 12.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.96sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Received new action goal ×2 + 12.96sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Accepted new action goal ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8).[0m ×2 + 14.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789738099.24510741 seconds ×3 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5).[0m ×2 + 14.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.09sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.18sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789738100.16722083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.35sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 15.36sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Received new action goal ×2 + 15.36sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Accepted new action goal ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2).[0m ×2 + 17.27sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721078 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721078 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889489 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889489 ms (missed cycles : 3).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166934 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166934 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789738121.00795412 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737576 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737576 ms (missed cycles : 4).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.89sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.89sINFOobjective_server_nodecaller: ×8 + 3.89sINFOobjective_server_nodetype: 0 ×8 + 3.89sINFOobjective_server_nodename: "" ×8 + 3.89sINFOobjective_server_nodeinstance_id: "" ×8 + 3.89sINFOobjective_server_node ×8 + 3.95sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789738121.65477848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-18 13:28:41.780] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-18 13:28:41.780] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811753 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811753 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912345 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912345 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637535 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637535 ms (missed cycles : 3).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260592 ms (missed cycles : 5). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260592 ms (missed cycles : 5).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466946 ms (missed cycles : 4). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466946 ms (missed cycles : 4).[0m ×2 + 9.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 9.55sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378301 ms (missed cycles : 4). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378301 ms (missed cycles : 4).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980348 ms (missed cycles : 5). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980348 ms (missed cycles : 5).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3).[0m ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6).[0m ×2 + 14.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.29sERRORobjective_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: 1789738131.99508572 seconds ×3 + 14.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789738132.60839677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789738132.69852853 seconds ×3 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4).[0m ×2 + 15.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.54sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.60sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789738133.30027413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.62sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.62sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789738133.32265997 seconds ×3 + 16.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.21sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.24sWARNros2_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 + 16.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789738133.97000480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.37sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 16.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 16.38sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Received new action goal ×2 + 16.38sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Accepted new action goal ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3).[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570650 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570650 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822077 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822077 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 2.03sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.05sINFOros2_control_node[2026-09-18 13:24:54.083] [info] Received new action goal ×2 + 2.05sINFOros2_control_node[2026-09-18 13:24:54.083] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791046 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791046 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_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 + 2.56sINFOros2_control_node[2026-09-18 13:24:54.598] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-09-18 13:24:54.598] [info] Canceling active goal... ×2 + 2.58sERRORobjective_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: 1789737894.61515284 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.12sINFOobjective_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: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.13sINFOobjective_server_node ×6 + 3.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789737895.23237157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457530 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457530 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.41sINFOros2_control_node[2026-09-18 13:24:55.446] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-18 13:24:55.446] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879195 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879195 ms (missed cycles : 3).[0m ×2 + 4.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184062 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184062 ms (missed cycles : 5).[0m ×2 + 5.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.69sINFOros2_control_node[2026-09-18 13:24:57.726] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-09-18 13:24:57.726] [info] Accepted new action goal ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101600 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101600 ms (missed cycles : 5).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467292 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467292 ms (missed cycles : 3).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820628 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820628 ms (missed cycles : 3).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.154121 ms (missed cycles : 5). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.154121 ms (missed cycles : 5).[0m ×2 + 10.83sWARNros2_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 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181321 ms (missed cycles : 3). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181321 ms (missed cycles : 3).[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4).[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2).[0m ×2 + 13.56sERRORobjective_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: 1789737905.59295321 seconds ×3 + 14.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.17sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737906.25902390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737906.34914684 seconds ×3 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3).[0m ×2 + 14.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737906.99416828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 15.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.17sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Received new action goal ×2 + 15.17sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Accepted new action goal ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2).[0m ×2 + 16.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4).[0m ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3).[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 1.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789738099.24510741 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.87sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.87sINFOobjective_server_nodecaller: ×4 + 3.87sINFOobjective_server_nodetype: 0 ×4 + 3.87sINFOobjective_server_nodename: "" ×4 + 3.87sINFOobjective_server_nodeinstance_id: "" ×4 + 3.87sINFOobjective_server_node ×4 + 3.95sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789738100.16722083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248268 ms (missed cycles : 4). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248268 ms (missed cycles : 4).[0m ×2 + 7.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817601 ms (missed cycles : 4). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817601 ms (missed cycles : 4).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206937 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206937 ms (missed cycles : 2).[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234603 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234603 ms (missed cycles : 2).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494544 ms (missed cycles : 4). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494544 ms (missed cycles : 4).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196760 ms (missed cycles : 5). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196760 ms (missed cycles : 5).[0m ×2 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708701 ms (missed cycles : 4). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708701 ms (missed cycles : 4).[0m ×2 + 14.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.28sERRORobjective_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: 1789738110.49793839 seconds ×3 + 14.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.83sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.88sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789738111.09810233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 15.18sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.20sINFOros2_control_node[2026-09-18 13:28:31.407] [info] Received new action goal ×2 + 15.20sINFOros2_control_node[2026-09-18 13:28:31.407] [info] Accepted new action goal ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847467 ms (missed cycles : 3). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847467 ms (missed cycles : 3).[0m ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672048 ms (missed cycles : 3). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672048 ms (missed cycles : 3).[0m ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613537 ms (missed cycles : 4). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613537 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 9 errors · 60 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Accepted new action goal ×2 + 0.54sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Canceling active goal... ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2).[0m ×2 + 2.32sERRORobjective_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: 1789737929.60853767 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737930.25004292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535847 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535847 ms (missed cycles : 6).[0m ×2 + 6.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.66sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.66sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.67sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 6.95sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 7.00sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.02sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 7.10sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.12sINFOobjective_server_nodeFound path in 5 iterations (0.00561524 s). ×2 + 7.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.25sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 7.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.37sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437612 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437612 ms (missed cycles : 2).[0m ×2 + 7.54sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (7.72e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.84sINFOros2_control_node[2026-09-18 13:25:35.127] [info] Received new action goal ×2 + 7.84sINFOros2_control_node[2026-09-18 13:25:35.127] [info] Accepted new action goal ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.725191 ms (missed cycles : 7). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.725191 ms (missed cycles : 7).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364385 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364385 ms (missed cycles : 3).[0m ×2 + 10.11sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.37sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.37sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.38sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789737937.69198537 seconds ×3 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087198 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087198 ms (missed cycles : 2).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138979 ms (missed cycles : 3). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138979 ms (missed cycles : 3).[0m ×2 + 12.63sWARNros2_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 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876981 ms (missed cycles : 3). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876981 ms (missed cycles : 3).[0m ×2 + 13.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.762672 ms (missed cycles : 6). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.762672 ms (missed cycles : 6).[0m ×2 + 13.84sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789737941.12338257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.04sINFOobjective_server_nodeFound path in 0 iterations (1.94e-07 s). ×2 + 14.05sINFOros2_control_node[2026-09-18 13:25:41.338] [info] Received new action goal ×2 + 14.05sINFOros2_control_node[2026-09-18 13:25:41.338] [info] Accepted new action goal ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792403 ms (missed cycles : 3). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792403 ms (missed cycles : 3).[0m ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885909 ms (missed cycles : 2). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885909 ms (missed cycles : 2).[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428673 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428673 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2).[0m ×2 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.01sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737918.01851368 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.85sINFOobjective_server_nodecaller: ×6 + 2.85sINFOobjective_server_nodetype: 0 ×6 + 2.85sINFOobjective_server_nodename: "" ×6 + 2.85sINFOobjective_server_nodeinstance_id: "" ×6 + 2.85sINFOobjective_server_node ×6 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737918.65101552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737918.73115492 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737919.37513328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2).[0m ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.14sINFOros2_control_node[2026-09-18 13:25:22.850] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-09-18 13:25:22.850] [info] Accepted new action goal ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755199 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755199 ms (missed cycles : 2).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460020 ms (missed cycles : 4). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460020 ms (missed cycles : 4).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211711 ms (missed cycles : 5). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211711 ms (missed cycles : 5).[0m ×2 + 9.47sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 9.47sINFOros2_control_node[2026-09-18 13:25:25.187] [info] Received new action goal ×2 + 9.47sINFOros2_control_node[2026-09-18 13:25:25.187] [info] Accepted new action goal ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047399 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047399 ms (missed cycles : 2).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 11.82sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Received new action goal ×2 + 11.82sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Accepted new action goal ×2 + 12.11sWARNros2_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 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3).[0m ×2 + 13.87sINFOobjective_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 + 13.88sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Got request to cancel active goal. ×2 + 13.88sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Canceling active goal... ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2).[0m ×2 + 13.89sERRORobjective_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: 1789737929.60853767 seconds ×3 + 14.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.54sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737930.25004292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 14.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.74sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Received new action goal ×2 + 14.74sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Accepted new action goal ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2).[0m ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2).[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 59 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 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 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 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 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.04sWARNros2_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 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.63sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.16sINFOros2_control_node[2026-09-18 13:24:47.083] [info] Received new action goal ×2 + 6.16sINFOros2_control_node[2026-09-18 13:24:47.083] [info] Accepted new action goal ×2 + 6.32sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450130 ms (missed cycles : 5). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450130 ms (missed cycles : 5).[0m ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089684 ms (missed cycles : 2). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089684 ms (missed cycles : 2).[0m ×2 + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588439 ms (missed cycles : 3). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588439 ms (missed cycles : 3).[0m ×2 + 9.74sWARNros2_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 + 9.80sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.82sINFOros2_control_node[2026-09-18 13:24:50.742] [info] Received new action goal ×2 + 9.82sINFOros2_control_node[2026-09-18 13:24:50.742] [info] Accepted new action goal ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.032717 ms (missed cycles : 5). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.032717 ms (missed cycles : 5).[0m ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570650 ms (missed cycles : 3). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570650 ms (missed cycles : 3).[0m ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822077 ms (missed cycles : 3). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822077 ms (missed cycles : 3).[0m ×2 + 13.13sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 13.14sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.16sINFOros2_control_node[2026-09-18 13:24:54.083] [info] Received new action goal ×2 + 13.16sINFOros2_control_node[2026-09-18 13:24:54.083] [info] Accepted new action goal ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791046 ms (missed cycles : 2). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791046 ms (missed cycles : 2).[0m ×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 13:24:54.598] [info] Got request to cancel active goal. ×2 + 13.67sINFOros2_control_node[2026-09-18 13:24:54.598] [info] Canceling active goal... ×2 + 13.69sERRORobjective_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: 1789737894.61515284 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 + 13.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.24sINFOobjective_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: ""
+ 14.24sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789737895.23237157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457530 ms (missed cycles : 3). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457530 ms (missed cycles : 3).[0m ×2 + 14.51sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 14.52sINFOros2_control_node[2026-09-18 13:24:55.446] [info] Received new action goal ×2 + 14.52sINFOros2_control_node[2026-09-18 13:24:55.446] [info] Accepted new action goal ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879195 ms (missed cycles : 3). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879195 ms (missed cycles : 3).[0m ×2 + 15.82sWARNros2_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 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184062 ms (missed cycles : 5). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184062 ms (missed cycles : 5).[0m ×2 + 16.78sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 16.79sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.80sINFOros2_control_node[2026-09-18 13:24:57.726] [info] Received new action goal ×2 + 16.80sINFOros2_control_node[2026-09-18 13:24:57.726] [info] Accepted new action goal ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101600 ms (missed cycles : 5). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101600 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 55 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6).[0m ×2 + 1.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.23sERRORobjective_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: 1789738131.99508572 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.24sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.79sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.79sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.79sINFOobjective_server_nodecaller: ×14 + 1.79sINFOobjective_server_nodetype: 0 ×14 + 1.79sINFOobjective_server_nodename: "" ×14 + 1.79sINFOobjective_server_nodeinstance_id: "" ×14 + 1.79sINFOobjective_server_node ×14 + 1.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789738132.60839677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789738132.69852853 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789738133.30027413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_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 + 2.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789738133.32265997 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789738133.97000480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.32sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132053 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132053 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812788 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812788 ms (missed cycles : 2).[0m ×2 + 6.63sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.63sINFOros2_control_node[2026-09-18 13:28:57.394] [info] Received new action goal ×2 + 6.63sINFOros2_control_node[2026-09-18 13:28:57.394] [info] Accepted new action goal ×2 + 6.63sINFOros2_control_node[2026-09-18 13:28:57.394] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.575835 ms (missed cycles : 6). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.575835 ms (missed cycles : 6).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946501 ms (missed cycles : 6). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946501 ms (missed cycles : 6).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.812052 ms (missed cycles : 5). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.812052 ms (missed cycles : 5).[0m ×2 + 10.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783272 ms (missed cycles : 4). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783272 ms (missed cycles : 4).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148191 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148191 ms (missed cycles : 3).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3).[0m ×2 + 13.23sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Got request to cancel active goal. ×2 + 13.23sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Canceling active goal... ×2 + 13.23sERRORobjective_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: 1789738143.99487185 seconds ×3 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088105 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088105 ms (missed cycles : 2).[0m ×2 + 13.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.77sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738144.59158421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789738145.17170334 seconds ×3 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2).[0m ×2 + 14.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.95sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.01sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789738145.77116132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.01sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.01sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.01sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789738145.77308583 seconds ×3 + 15.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.60sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789738146.42120981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.71sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789738146.47218180 seconds ×3 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4).[0m ×2 + 16.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.25sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789738147.06942010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234603 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234603 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494544 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494544 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196760 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196760 ms (missed cycles : 5).[0m ×2 + 2.81sWARNros2_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 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708701 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708701 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_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 + 3.27sERRORobjective_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: 1789738110.49793839 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_nodecaller: ×4 + 3.81sINFOobjective_server_nodetype: 0 ×4 + 3.81sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.87sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789738111.09810233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.18sINFOros2_control_node[2026-09-18 13:28:31.407] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-18 13:28:31.407] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847467 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847467 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672048 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672048 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613537 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613537 ms (missed cycles : 4).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747054 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747054 ms (missed cycles : 3).[0m ×2 + 8.19sINFOros2_control_node[2026-09-18 13:28:35.422] [info] Received new action goal ×2 + 8.19sINFOros2_control_node[2026-09-18 13:28:35.422] [info] Accepted new action goal ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606763 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606763 ms (missed cycles : 4).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755393 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755393 ms (missed cycles : 2).[0m ×2 + 9.52sWARNros2_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 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721078 ms (missed cycles : 3). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721078 ms (missed cycles : 3).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889489 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889489 ms (missed cycles : 3).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166934 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166934 ms (missed cycles : 2).[0m ×2 + 13.78sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789738121.00795412 seconds ×3 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737576 ms (missed cycles : 4). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737576 ms (missed cycles : 4).[0m ×2 + 14.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.36sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.42sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789738121.65477848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.54sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 14.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.55sINFOros2_control_node[2026-09-18 13:28:41.780] [info] Received new action goal ×2 + 14.55sINFOros2_control_node[2026-09-18 13:28:41.780] [info] Accepted new action goal ×2 + 14.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811753 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811753 ms (missed cycles : 2).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912345 ms (missed cycles : 3). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912345 ms (missed cycles : 3).[0m ×2 + 16.46sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637535 ms (missed cycles : 3). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637535 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 37 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887526 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887526 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075709 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075709 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816511 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816511 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789737963.54119349 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.98sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.98sINFOobjective_server_nodecaller: ×6 + 2.98sINFOobjective_server_nodetype: 0 ×6 + 2.98sINFOobjective_server_nodename: "" ×6 + 2.98sINFOobjective_server_nodeinstance_id: "" ×6 + 2.98sINFOobjective_server_node ×6 + 3.03sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789737964.20407844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789737964.27423525 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685066 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685066 ms (missed cycles : 2).[0m ×2 + 3.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.70sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737964.87364960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737967.00377345 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2).[0m ×2 + 7.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.40sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2).[0m ×2 + 7.47sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737968.64694977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.56sINFOobjective_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 + 7.57sINFOobjective_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 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.89sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Received new action goal ×2 + 7.89sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Accepted new action goal ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4).[0m ×2 + 9.74sWARNros2_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 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 39 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::ConverterBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.06sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.06sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.75sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.75sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.75sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.75sWARNros2_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 + 0.75sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.75sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.75sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.75sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.75sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.75sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.75sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.75sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.75sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.75sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.75sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.75sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.75sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.75sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.75sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.75sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.75sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.75sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.75sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.75sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.75sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.75sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.75sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.75sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.75sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.75sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.75sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2).[0m ×2 + 0.84sINFOcomponent_container_mt[2026-09-18 13:24:37.313] [moveit_pro_license] [info] ×2 + 0.84sINFOcomponent_container_mt************************************************* ×4 + 0.84sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.84sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.88sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.88sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.89sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.89sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.90sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.90sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.90sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.90sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.91sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.92sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.92sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.19sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.19sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.19sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.24sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 1.24sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 1.25sINFOros2-4process has finished cleanly [pid 7223] ×2 + 1.28sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.28sINFOros2_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 + 1.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.28sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.28sWARNros2_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 + 1.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.29sINFOforce_torque_sensor_broadcasterconfigure successful + 1.29sINFOros2_control_nodeconfigure successful[0m ×2 + 1.29sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.29sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.30sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.30sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.56sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.56sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.56sWARNobjective_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 + 1.59sINFOros2-2process has finished cleanly [pid 7221] ×2 + 1.67sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 1.67sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 1.71sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.71sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.74sINFOros2_control_node[2026-09-18 13:24:38.210] [info] Controller state will be published at 10 Hz. ×2 + 1.74sINFOros2_control_node[2026-09-18 13:24:38.211] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278597 ms (missed cycles : 5). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278597 ms (missed cycles : 5).[0m ×2 + 2.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.05sINFOros2-7process has finished cleanly [pid 7226] ×2 + 2.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 2.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 2.17sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.17sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.17sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.18sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.20sINFOros2_control_node[2026-09-18 13:24:38.674] [info] Controller state will be published at 20 Hz. ×2 + 2.20sINFOros2_control_node[2026-09-18 13:24:38.675] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.49sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.49sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.49sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.49sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.50sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 2.50sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 2.51sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.51sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.52sINFOros2-8process has finished cleanly [pid 7227] ×2 + 2.53sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.53sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.53sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.53sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.53sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.54sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.54sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2).[0m ×2 + 2.85sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.85sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.85sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.87sINFOros2-3process has finished cleanly [pid 7222] ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.87sINFOobjective_server_nodecaller: ×14 + 2.87sINFOobjective_server_nodetype: 0 ×14 + 2.87sINFOobjective_server_nodename: "" ×14 + 2.87sINFOobjective_server_nodeinstance_id: "" ×14 + 2.87sINFOobjective_server_node ×14 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737879.40785599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 2.94sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737879.41808486 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.97sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.97sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.97sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.97sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.97sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.97sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.02sINFOros2_control_node[2026-09-18 13:24:39.493] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.02sINFOros2_control_node[2026-09-18 13:24:39.493] [info] Controller state will be published at 50 Hz. ×2 + 3.02sINFOros2_control_node[2026-09-18 13:24:39.498] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.33sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.33sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 3.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 3.36sINFOros2-6process has finished cleanly [pid 7225] ×2 + 3.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.39sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.39sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.39sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.39sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.39sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.39sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.39sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.40sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.40sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737880.01574326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.80sINFOros2-5process has finished cleanly [pid 7224] ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.96sWARNros2_control_nodeCamera render tick took 1.86 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 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 7.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 7.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 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 + 7.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.87sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 8.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.08sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 8.08sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783272 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783272 ms (missed cycles : 4).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148191 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148191 ms (missed cycles : 3).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Canceling active goal... ×2 + 2.97sERRORobjective_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: 1789738143.99487185 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088105 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088105 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.52sINFOobjective_server_nodecaller: ×8 + 3.52sINFOobjective_server_nodetype: 0 ×8 + 3.52sINFOobjective_server_nodename: "" ×8 + 3.52sINFOobjective_server_nodeinstance_id: "" ×8 + 3.52sINFOobjective_server_node ×8 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738144.59158421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789738145.17170334 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.75sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789738145.77116132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.75sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.75sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.75sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789738145.77308583 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.34sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789738146.42120981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789738146.47218180 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.00sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789738147.06942010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.755020 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.755020 ms (missed cycles : 5).[0m ×2 + 6.86sWARNros2_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 + 7.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789738148.25955057 seconds ×3 + 7.28sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245075 ms (missed cycles : 2). | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887526 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887526 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075709 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075709 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816511 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816511 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789737963.54119349 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.03sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789737964.20407844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789737964.27423525 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685066 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685066 ms (missed cycles : 2).[0m ×2 + 3.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.70sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737964.87364960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737967.00377345 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 28 warnings · 125 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587026 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587026 ms (missed cycles : 4).[0m ×2 + 0.20sINFOros2_control_node[2026-09-18 13:25:15.090] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-18 13:25:15.090] [info] Accepted new action goal ×2 + 0.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2).[0m ×2 + 1.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.83sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737918.01851368 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737918.65101552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737918.73115492 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.42sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.48sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737919.37513328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.61sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 26 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980348 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980348 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6).[0m ×2 + 3.34sINFOobjective_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 + 3.35sERRORobjective_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: 1789738131.99508572 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.91sINFOobjective_server_nodecaller: ×6 + 3.91sINFOobjective_server_nodetype: 0 ×6 + 3.91sINFOobjective_server_nodename: "" ×6 + 3.91sINFOobjective_server_nodeinstance_id: "" ×6 + 3.91sINFOobjective_server_node ×6 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789738132.60839677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789738132.69852853 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789738133.30027413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789738133.32265997 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.30sWARNros2_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 + 5.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789738133.97000480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.44sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132053 ms (missed cycles : 4). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132053 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148191 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148191 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_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 + 1.55sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Got request to cancel active goal. ×2 + 1.55sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Canceling active goal... ×2 + 1.55sERRORobjective_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: 1789738143.99487185 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088105 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088105 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.10sINFOobjective_server_node ×8 + 2.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738144.59158421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789738145.17170334 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789738145.77116132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.33sINFOobjective_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 + 3.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789738145.77308583 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789738146.42120981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789738146.47218180 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789738147.06942010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.755020 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.755020 ms (missed cycles : 5).[0m ×2 + 5.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789738148.25955057 seconds ×3 + 5.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245075 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245075 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630986 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630986 ms (missed cycles : 3).[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 (1.21 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 4.181321 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181321 ms (missed cycles : 3).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4).[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_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 + 2.73sERRORobjective_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: 1789737905.59295321 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 + 2.81sINFOros2_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 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737906.25902390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737906.34914684 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737906.99416828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709378 ms (missed cycles : 8). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709378 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 30 warnings · 539 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sWARNobjective_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 + 0.03sINFOros2-2process has finished cleanly [pid 7221] ×2 + 0.11sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.11sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.14sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.14sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_node[2026-09-18 13:24:38.210] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-18 13:24:38.211] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278597 ms (missed cycles : 5). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278597 ms (missed cycles : 5).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7226] ×2 + 0.57sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.57sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.61sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.61sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.61sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.64sINFOros2_control_node[2026-09-18 13:24:38.674] [info] Controller state will be published at 20 Hz. ×2 + 0.64sINFOros2_control_node[2026-09-18 13:24:38.675] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.93sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.93sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.93sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.93sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.95sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.96sINFOros2-8process has finished cleanly [pid 7227] ×2 + 0.97sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.97sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2).[0m ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.29sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.31sINFOros2-3process has finished cleanly [pid 7222] ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.31sINFOobjective_server_nodecaller: ×14 + 1.31sINFOobjective_server_nodetype: 0 ×14 + 1.31sINFOobjective_server_nodename: "" ×14 + 1.31sINFOobjective_server_nodeinstance_id: "" ×14 + 1.31sINFOobjective_server_node ×14 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737879.40785599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 1.38sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737879.41808486 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.41sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.41sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.41sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.41sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.46sINFOros2_control_node[2026-09-18 13:24:39.493] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.46sINFOros2_control_node[2026-09-18 13:24:39.493] [info] Controller state will be published at 50 Hz. ×2 + 1.46sINFOros2_control_node[2026-09-18 13:24:39.498] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.77sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.77sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 1.77sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 1.80sINFOros2-6process has finished cleanly [pid 7225] ×2 + 1.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.83sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.83sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.83sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.83sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.83sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.83sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.84sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.84sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737880.01574326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOros2-5process has finished cleanly [pid 7224] ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.39sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 5.93sWARNros2_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 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.51sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6).[0m ×2 + 2.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sERRORobjective_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: 1789738131.99508572 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.87sINFOobjective_server_nodecaller: ×6 + 2.87sINFOobjective_server_nodetype: 0 ×6 + 2.87sINFOobjective_server_nodename: "" ×6 + 2.87sINFOobjective_server_nodeinstance_id: "" ×6 + 2.87sINFOobjective_server_node ×6 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789738132.60839677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789738132.69852853 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789738133.30027413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789738133.32265997 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789738133.97000480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.40sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132053 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132053 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148191 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148191 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_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 + 1.55sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Got request to cancel active goal. ×2 + 1.55sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Canceling active goal... ×2 + 1.55sERRORobjective_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: 1789738143.99487185 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088105 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088105 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.10sINFOobjective_server_node ×8 + 2.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738144.59158421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789738145.17170334 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789738145.77116132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.33sINFOobjective_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 + 3.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789738145.77308583 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789738146.42120981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789738146.47218180 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789738147.06942010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.755020 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.755020 ms (missed cycles : 5).[0m ×2 + 5.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789738148.25955057 seconds ×3 + 5.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245075 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245075 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 25 warnings · 2128 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×340 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×340 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×680 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×680 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789738088.28883243 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789738089.01495028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3).[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219334 ms (missed cycles : 5). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219334 ms (missed cycles : 5).[0m ×2 + 7.07sWARNros2_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 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4).[0m ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3).[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sWARNros2_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 + 1.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789738099.24510741 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789738100.16722083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2).[0m ×2 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.01sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737918.01851368 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737918.65101552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737918.73115492 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737919.37513328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Accepted new action goal ×2 + 0.54sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Canceling active goal... ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2).[0m ×2 + 2.32sERRORobjective_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: 1789737929.60853767 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737930.25004292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 22 warnings · 114 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 4.181321 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181321 ms (missed cycles : 3).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4).[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_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 + 2.73sERRORobjective_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: 1789737905.59295321 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 + 2.81sINFOros2_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 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737906.25902390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737906.34914684 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737906.99416828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 22 warnings · 114 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 4.181321 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181321 ms (missed cycles : 3).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4).[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_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 + 2.73sERRORobjective_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: 1789737905.59295321 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 + 2.81sINFOros2_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 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737906.25902390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737906.34914684 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737906.99416828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_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 + 1.45sERRORobjective_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: 1789737905.59295321 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.07sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.07sINFOobjective_server_nodecaller: ×4 + 2.07sINFOobjective_server_nodetype: 0 ×4 + 2.07sINFOobjective_server_nodename: "" ×4 + 2.07sINFOobjective_server_nodeinstance_id: "" ×4 + 2.07sINFOobjective_server_node ×4 + 2.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737906.25902390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737906.34914684 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737906.99416828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.07sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Received new action goal ×2 + 3.07sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Accepted new action goal ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709378 ms (missed cycles : 8). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709378 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_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 + 1.45sERRORobjective_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: 1789737905.59295321 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.07sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.07sINFOobjective_server_nodecaller: ×4 + 2.07sINFOobjective_server_nodetype: 0 ×4 + 2.07sINFOobjective_server_nodename: "" ×4 + 2.07sINFOobjective_server_nodeinstance_id: "" ×4 + 2.07sINFOobjective_server_node ×4 + 2.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737906.25902390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737906.34914684 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737906.99416828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.07sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Received new action goal ×2 + 3.07sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Accepted new action goal ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709378 ms (missed cycles : 8). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709378 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_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 + 1.45sERRORobjective_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: 1789737905.59295321 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.07sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.07sINFOobjective_server_nodecaller: ×4 + 2.07sINFOobjective_server_nodetype: 0 ×4 + 2.07sINFOobjective_server_nodename: "" ×4 + 2.07sINFOobjective_server_nodeinstance_id: "" ×4 + 2.07sINFOobjective_server_node ×4 + 2.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737906.25902390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737906.34914684 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737906.99416828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.07sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Received new action goal ×2 + 3.07sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Accepted new action goal ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709378 ms (missed cycles : 8). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709378 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677546 ms (missed cycles : 4).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206743 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_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 + 1.45sERRORobjective_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: 1789737905.59295321 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.07sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.07sINFOobjective_server_nodecaller: ×4 + 2.07sINFOobjective_server_nodetype: 0 ×4 + 2.07sINFOobjective_server_nodename: "" ×4 + 2.07sINFOobjective_server_nodeinstance_id: "" ×4 + 2.07sINFOobjective_server_node ×4 + 2.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789737906.25902390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789737906.34914684 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335166 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789737906.99416828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.07sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Received new action goal ×2 + 3.07sINFOros2_control_node[2026-09-18 13:25:07.208] [info] Accepted new action goal ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329195 ms (missed cycles : 2).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850180 ms (missed cycles : 2).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709378 ms (missed cycles : 8). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709378 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2).[0m ×2 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.01sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737918.01851368 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737918.65101552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737918.73115492 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737919.37513328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2).[0m ×2 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.01sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737918.01851368 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737918.65101552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737918.73115492 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737919.37513328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2).[0m ×2 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.01sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737918.01851368 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737918.65101552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737918.73115492 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737919.37513328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057920 ms (missed cycles : 2).[0m ×2 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.01sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 13:25:16.722] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526324 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366529 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789737918.01851368 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789737918.65101552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789737918.73115492 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987418 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789737919.37513328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.79sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-18 13:25:19.499] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575288 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137268 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_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 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Accepted new action goal ×2 + 0.54sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Canceling active goal... ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2).[0m ×2 + 2.32sERRORobjective_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: 1789737929.60853767 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737930.25004292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Accepted new action goal ×2 + 0.54sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Canceling active goal... ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2).[0m ×2 + 2.32sERRORobjective_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: 1789737929.60853767 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737930.25004292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Accepted new action goal ×2 + 0.54sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Canceling active goal... ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2).[0m ×2 + 2.32sERRORobjective_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: 1789737929.60853767 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737930.25004292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Accepted new action goal ×2 + 0.54sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Canceling active goal... ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2).[0m ×2 + 2.32sERRORobjective_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: 1789737929.60853767 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737930.25004292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Accepted new action goal ×2 + 0.54sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Canceling active goal... ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2).[0m ×2 + 2.32sERRORobjective_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: 1789737929.60853767 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737930.25004292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Accepted new action goal ×2 + 0.54sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Canceling active goal... ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2).[0m ×2 + 2.32sERRORobjective_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: 1789737929.60853767 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737930.25004292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Accepted new action goal ×2 + 0.54sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Canceling active goal... ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2).[0m ×2 + 2.32sERRORobjective_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: 1789737929.60853767 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737930.25004292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Accepted new action goal ×2 + 0.54sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Canceling active goal... ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2).[0m ×2 + 2.32sERRORobjective_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: 1789737929.60853767 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737930.25004292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Accepted new action goal ×2 + 0.54sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Canceling active goal... ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2).[0m ×2 + 2.32sERRORobjective_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: 1789737929.60853767 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737930.25004292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-09-18 13:25:27.537] [info] Accepted new action goal ×2 + 0.54sWARNros2_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 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876967 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-09-18 13:25:29.595] [info] Canceling active goal... ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610816 ms (missed cycles : 2).[0m ×2 + 2.32sERRORobjective_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: 1789737929.60853767 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789737930.25004292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 13:25:30.454] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628062 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189479 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.95e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00328815 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOros2_control_node[2026-09-18 13:25:48.890] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-18 13:25:48.890] [info] Accepted new action goal ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898188 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898188 ms (missed cycles : 2).[0m ×2 + 0.82sINFOros2_control_node[2026-09-18 13:25:49.322] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-18 13:25:49.322] [info] Accepted new action goal ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.864506 ms (missed cycles : 5). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.864506 ms (missed cycles : 5).[0m ×2 + 2.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295974 ms (missed cycles : 5). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295974 ms (missed cycles : 5).[0m ×2 + 3.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.07sINFOros2_control_node[2026-09-18 13:25:51.577] [info] Received new action goal ×2 + 3.07sINFOros2_control_node[2026-09-18 13:25:51.577] [info] Accepted new action goal ×2 + 3.08sINFOobjective_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 + 3.09sINFOros2_control_node[2026-09-18 13:25:51.594] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-09-18 13:25:51.594] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789737951.59889674 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 + 3.56sWARNros2_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 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789737952.25804353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216702 ms (missed cycles : 4). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216702 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.95sINFOros2_control_node[2026-09-18 13:25:52.452] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-09-18 13:25:52.452] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858500 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858500 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188471 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188471 ms (missed cycles : 5).[0m ×2 + 6.47sINFOros2_control_node[2026-09-18 13:25:54.975] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-18 13:25:54.975] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887526 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887526 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075709 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075709 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816511 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816511 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789737963.54119349 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.03sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789737964.20407844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789737964.27423525 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685066 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685066 ms (missed cycles : 2).[0m ×2 + 3.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.70sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737964.87364960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737967.00377345 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 25 warnings · 103 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 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737964.87364960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Accepted new action goal ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737967.00377345 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737968.64694977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_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 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 25 warnings · 103 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 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737964.87364960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Accepted new action goal ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737967.00377345 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737968.64694977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_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 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 25 warnings · 103 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 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737964.87364960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Accepted new action goal ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737967.00377345 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737968.64694977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_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 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 25 warnings · 103 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 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737964.87364960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Accepted new action goal ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737967.00377345 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737968.64694977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_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 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 25 warnings · 103 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 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737964.87364960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Accepted new action goal ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737967.00377345 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737968.64694977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_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 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 103 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 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737964.87364960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Accepted new action goal ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737967.00377345 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737968.64694977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_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 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 25 warnings · 103 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 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.04sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.04sINFOobjective_server_nodecaller: ×4 + 0.04sINFOobjective_server_nodetype: 0 ×4 + 0.04sINFOobjective_server_nodename: "" ×4 + 0.04sINFOobjective_server_nodeinstance_id: "" ×4 + 0.04sINFOobjective_server_node ×4 + 0.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789737964.87364960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-09-18 13:26:04.997] [info] Accepted new action goal ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238710 ms (missed cycles : 5).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195425 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789737967.00377345 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199434 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858022 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789737968.64694977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-18 13:26:09.064] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325361 ms (missed cycles : 4).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382198 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_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 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857256 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868289 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868289 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794564 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794564 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033086 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033086 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789738021.61323118 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sWARNros2_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 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.87sINFOobjective_server_nodename: "" ×2 + 2.87sINFOobjective_server_nodeinstance_id: "" ×2 + 2.87sINFOobjective_server_node ×2 + 2.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789738022.21959662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.082080 ms (missed cycles : 11). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.082080 ms (missed cycles : 11).[0m ×2 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.10sINFOros2_control_node[2026-09-18 13:27:02.383] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-09-18 13:27:02.383] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845530 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845530 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_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 + 4.37sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723154 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723154 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 · 2128 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×340 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×340 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×680 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×680 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789738088.28883243 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789738089.01495028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2128 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×340 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×340 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×680 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×680 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789738088.28883243 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789738089.01495028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2128 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×340 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×340 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×680 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×680 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789738088.28883243 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789738089.01495028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2128 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×340 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×340 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×680 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×680 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390281 ms (missed cycles : 6).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769127 ms (missed cycles : 2).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052869 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789738088.28883243 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036522 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789738089.01495028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 13:28:09.220] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825771 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754947 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4).[0m ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3).[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sWARNros2_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 + 1.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789738099.24510741 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789738100.16722083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4).[0m ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3).[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sWARNros2_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 + 1.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789738099.24510741 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789738100.16722083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4).[0m ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3).[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sWARNros2_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 + 1.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789738099.24510741 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789738100.16722083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4).[0m ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3).[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sWARNros2_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 + 1.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789738099.24510741 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789738100.16722083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4).[0m ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3).[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sWARNros2_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 + 1.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789738099.24510741 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789738100.16722083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4).[0m ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3).[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sWARNros2_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 + 1.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789738099.24510741 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789738100.16722083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4).[0m ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3).[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sWARNros2_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 + 1.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789738099.24510741 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789738100.16722083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428664 ms (missed cycles : 4).[0m ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-09-18 13:28:16.293] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374875 ms (missed cycles : 3).[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sWARNros2_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 + 1.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-18 13:28:17.949] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.277969 ms (missed cycles : 8).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789738099.24510741 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459986 ms (missed cycles : 5).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789738100.16722083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 13:28:20.351] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750887 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991615 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923537 ms (missed cycles : 3).[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 3.234603 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234603 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494544 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494544 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196760 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196760 ms (missed cycles : 5).[0m ×2 + 2.81sWARNros2_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 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708701 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708701 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_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 + 3.27sERRORobjective_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: 1789738110.49793839 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789738111.09810233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.18sINFOros2_control_node[2026-09-18 13:28:31.407] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-18 13:28:31.407] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847467 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847467 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672048 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672048 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613537 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613537 ms (missed cycles : 4).[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 3.721078 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721078 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889489 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889489 ms (missed cycles : 3).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166934 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166934 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789738121.00795412 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737576 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737576 ms (missed cycles : 4).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789738121.65477848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-18 13:28:41.780] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-18 13:28:41.780] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811753 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811753 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912345 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912345 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637535 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637535 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980348 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980348 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6).[0m ×2 + 3.34sINFOobjective_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 + 3.35sERRORobjective_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: 1789738131.99508572 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.91sINFOobjective_server_nodecaller: ×6 + 3.91sINFOobjective_server_nodetype: 0 ×6 + 3.91sINFOobjective_server_nodename: "" ×6 + 3.91sINFOobjective_server_nodeinstance_id: "" ×6 + 3.91sINFOobjective_server_node ×6 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789738132.60839677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789738132.69852853 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789738133.30027413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789738133.32265997 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.30sWARNros2_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 + 5.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789738133.97000480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.44sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980348 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980348 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6).[0m ×2 + 3.34sINFOobjective_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 + 3.35sERRORobjective_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: 1789738131.99508572 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.91sINFOobjective_server_nodecaller: ×6 + 3.91sINFOobjective_server_nodetype: 0 ×6 + 3.91sINFOobjective_server_nodename: "" ×6 + 3.91sINFOobjective_server_nodeinstance_id: "" ×6 + 3.91sINFOobjective_server_node ×6 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789738132.60839677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789738132.69852853 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789738133.30027413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789738133.32265997 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.30sWARNros2_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 + 5.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789738133.97000480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.44sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980348 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980348 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6).[0m ×2 + 3.34sINFOobjective_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 + 3.35sERRORobjective_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: 1789738131.99508572 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.91sINFOobjective_server_nodecaller: ×6 + 3.91sINFOobjective_server_nodetype: 0 ×6 + 3.91sINFOobjective_server_nodename: "" ×6 + 3.91sINFOobjective_server_nodeinstance_id: "" ×6 + 3.91sINFOobjective_server_node ×6 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789738132.60839677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789738132.69852853 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789738133.30027413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789738133.32265997 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.30sWARNros2_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 + 5.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789738133.97000480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.44sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980348 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980348 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122693 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6).[0m ×2 + 3.34sINFOobjective_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 + 3.35sERRORobjective_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: 1789738131.99508572 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.91sINFOobjective_server_nodecaller: ×6 + 3.91sINFOobjective_server_nodetype: 0 ×6 + 3.91sINFOobjective_server_nodename: "" ×6 + 3.91sINFOobjective_server_nodeinstance_id: "" ×6 + 3.91sINFOobjective_server_node ×6 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789738132.60839677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789738132.69852853 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789738133.30027413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789738133.32265997 seconds ×3 + 5.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.27sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.30sWARNros2_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 + 5.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789738133.97000480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.44sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6).[0m ×2 + 1.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sERRORobjective_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: 1789738131.99508572 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.79sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.79sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.79sINFOobjective_server_nodecaller: ×6 + 1.79sINFOobjective_server_nodetype: 0 ×6 + 1.79sINFOobjective_server_nodename: "" ×6 + 1.79sINFOobjective_server_nodeinstance_id: "" ×6 + 1.79sINFOobjective_server_node ×6 + 1.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789738132.60839677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789738132.69852853 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789738133.30027413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_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 + 2.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789738133.32265997 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789738133.97000480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.32sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132053 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132053 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6).[0m ×2 + 1.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sERRORobjective_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: 1789738131.99508572 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.79sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.79sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.79sINFOobjective_server_nodecaller: ×6 + 1.79sINFOobjective_server_nodetype: 0 ×6 + 1.79sINFOobjective_server_nodename: "" ×6 + 1.79sINFOobjective_server_nodeinstance_id: "" ×6 + 1.79sINFOobjective_server_node ×6 + 1.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789738132.60839677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789738132.69852853 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789738133.30027413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_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 + 2.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789738133.32265997 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789738133.97000480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.32sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132053 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132053 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695687 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456353 ms (missed cycles : 6).[0m ×2 + 1.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sERRORobjective_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: 1789738131.99508572 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.79sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.79sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.79sINFOobjective_server_nodecaller: ×6 + 1.79sINFOobjective_server_nodetype: 0 ×6 + 1.79sINFOobjective_server_nodename: "" ×6 + 1.79sINFOobjective_server_nodeinstance_id: "" ×6 + 1.79sINFOobjective_server_node ×6 + 1.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789738132.60839677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789738132.69852853 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911298 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789738133.30027413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_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 + 2.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789738133.32265997 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789738133.97000480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.32sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-18 13:28:54.084] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216696 ms (missed cycles : 3).[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132053 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132053 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783272 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783272 ms (missed cycles : 4).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148191 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148191 ms (missed cycles : 3).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Canceling active goal... ×2 + 2.97sERRORobjective_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: 1789738143.99487185 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088105 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088105 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.52sINFOobjective_server_nodecaller: ×8 + 3.52sINFOobjective_server_nodetype: 0 ×8 + 3.52sINFOobjective_server_nodename: "" ×8 + 3.52sINFOobjective_server_nodeinstance_id: "" ×8 + 3.52sINFOobjective_server_node ×8 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738144.59158421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789738145.17170334 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.75sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789738145.77116132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.75sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.75sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.75sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789738145.77308583 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.34sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789738146.42120981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789738146.47218180 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.00sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789738147.06942010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783272 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783272 ms (missed cycles : 4).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148191 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148191 ms (missed cycles : 3).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760133 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-18 13:29:03.990] [info] Canceling active goal... ×2 + 2.97sERRORobjective_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: 1789738143.99487185 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088105 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088105 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.52sINFOobjective_server_nodecaller: ×8 + 3.52sINFOobjective_server_nodetype: 0 ×8 + 3.52sINFOobjective_server_nodename: "" ×8 + 3.52sINFOobjective_server_nodeinstance_id: "" ×8 + 3.52sINFOobjective_server_node ×8 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738144.59158421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789738145.17170334 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236588 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.75sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789738145.77116132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.75sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.75sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.75sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789738145.77308583 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.34sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789738146.42120981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789738146.47218180 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487394 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.00sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789738147.06942010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.7s | 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/2026-09-18-13-24-32-701053-f4e76ba8d940-7172 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362455 ms (missed cycles : 3). + 0.90sINFOros2_control_node-1process started with pid [7220] ×2 + 0.90sINFOmove_group-9process started with pid [7271] ×2 + 0.90sINFOparameter_manager_node-10process started with pid [7272] ×2 + 0.90sINFOwaypoint_manager_node-11process started with pid [7273] ×2 + 0.90sINFOmove_joint_resampler_node-12process started with pid [7274] ×2 + 0.90sINFOmove_end_effector_resampler_node-13process started with pid [7275] ×2 + 0.90sINFOobjective_server_node_main-14process started with pid [7276] ×2 + 0.90sINFOcomponent_container_mt-15process started with pid [7277] ×2 + 0.90sINFOcomponent_container_mt-16process started with pid [7278] ×2 + 0.90sINFOexecute_objective_bridge-17process started with pid [7279] ×2 + 0.90sINFOui_teleop_bridge-18process started with pid [7280] ×2 + 0.90sINFOweb_bridge-19process started with pid [7281] ×2 + 0.90sINFOtf2_web_republisher_node-20process started with pid [7352] ×2 + 0.90sINFOvideo_server-21process started with pid [7353] ×2 + 0.90sINFOweb_bridge_auth_proxy-22process started with pid [7354] ×2 + 0.90sINFOweb_video_auth_proxy-23process started with pid [7355] ×2 + 0.90sINFOros2-2process started with pid [7221] ×2 + 0.91sINFOros2-3process started with pid [7222] ×2 + 0.91sINFOros2-4process started with pid [7223] ×2 + 0.91sINFOros2-5process started with pid [7224] ×2 + 0.91sINFOros2-6process started with pid [7225] ×2 + 0.91sINFOros2-7process started with pid [7226] ×2 + 0.91sINFOros2-8process started with pid [7227] ×2 + 0.93sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.93sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.93sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.93sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.93sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.93sWARNros2_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 + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362455 ms (missed cycles : 3).[0m ×2 + 0.95sINFOcontroller_managerReceived robot description from topic. + 0.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.18sINFOvideo_server2026/09/18 13:24:34 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.18sINFOvideo_server2026/09/18 13:24:34 INF configuration loaded from /tmp/moveit-webrtc-e7hz4nyh/mediamtx.yml ×2 + 1.18sINFOvideo_server2026/09/18 13:24:34 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.18sINFOvideo_server2026/09/18 13:24:34 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.52sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.65sINFOmove_group[2026-09-18 13:24:34.727] [moveit_pro_license] [info] ×2 + 1.65sINFOmove_group************************************************* ×4 + 1.65sINFOmove_group* MoveIt Pro License ×2 + 1.65sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.88sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.03sINFOmove_group ×4 + 2.03sINFOmove_group[92mYou can start planning now![0m ×2 + 2.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.09sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.35sINFOwaypoint_manager_node[2026-09-18 13:24:35.423] [moveit_pro_license] [info] ×2 + 2.35sINFOwaypoint_manager_node************************************************* ×4 + 2.35sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.35sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.44sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.28sINFOobjective_server_node[2026-09-18 13:24:36.354] [moveit_pro_license] [info] ×2 + 3.28sINFOobjective_server_node************************************************* ×4 + 3.28sINFOobjective_server_node* MoveIt Pro License ×2 + 3.28sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.40sINFOobjective_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 + 3.40sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.41sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.46sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.46sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.15sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.15sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.15sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.15sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.15sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.15sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.15sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.15sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.15sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.15sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.15sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.15sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.15sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.15sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.15sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.15sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.15sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.15sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.15sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.15sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.15sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.15sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.15sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.15sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.15sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2).[0m ×2 + 4.24sINFOcomponent_container_mt[2026-09-18 13:24:37.313] [moveit_pro_license] [info] ×2 + 4.24sINFOcomponent_container_mt************************************************* ×4 + 4.24sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.24sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 4.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 4.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.30sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.30sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.31sINFOcontroller_managerSuccessfully switched controllers! ×14 + 4.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 4.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.59sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.59sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.59sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.59sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 4.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 4.65sINFOros2-4process has finished cleanly [pid 7223] ×2 + 4.68sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.68sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.68sINFOros2_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 + 4.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.68sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.68sWARNros2_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 + 4.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.69sINFOforce_torque_sensor_broadcasterconfigure successful + 4.69sINFOros2_control_nodeconfigure successful[0m ×2 + 4.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.70sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.70sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.96sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.96sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.96sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.96sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.96sWARNobjective_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 + 4.99sINFOros2-2process has finished cleanly [pid 7221] ×2 + 5.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 5.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 5.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.11sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.14sINFOros2_control_node[2026-09-18 13:24:38.210] [info] Controller state will be published at 10 Hz. ×2 + 5.14sINFOros2_control_node[2026-09-18 13:24:38.211] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278597 ms (missed cycles : 5). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278597 ms (missed cycles : 5).[0m ×2 + 5.42sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.42sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.45sINFOros2-7process has finished cleanly [pid 7226] ×2 + 5.53sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 5.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 5.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.58sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.60sINFOros2_control_node[2026-09-18 13:24:38.674] [info] Controller state will be published at 20 Hz. ×2 + 5.60sINFOros2_control_node[2026-09-18 13:24:38.675] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.89sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.89sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.89sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.89sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.90sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 5.90sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 5.91sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.91sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.92sINFOros2-8process has finished cleanly [pid 7227] ×2 + 5.93sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.93sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.93sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.93sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.93sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.93sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 5.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 5.94sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.94sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2).[0m ×2 + 6.25sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.25sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.25sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.25sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.27sINFOros2-3process has finished cleanly [pid 7222] ×2 + 6.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.27sINFOobjective_server_nodecaller: ×10 + 6.27sINFOobjective_server_nodetype: 0 ×10 + 6.27sINFOobjective_server_nodename: "" ×10 + 6.27sINFOobjective_server_nodeinstance_id: "" ×10 + 6.27sINFOobjective_server_node ×10 + 6.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737879.40785599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 6.34sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 6.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737879.41808486 seconds ×3 + 6.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 6.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 6.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 6.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 6.37sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.37sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.37sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.37sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.42sINFOros2_control_node[2026-09-18 13:24:39.493] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.42sINFOros2_control_node[2026-09-18 13:24:39.493] [info] Controller state will be published at 50 Hz. ×2 + 6.42sINFOros2_control_node[2026-09-18 13:24:39.498] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.73sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.73sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.73sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.73sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.73sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 6.73sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 6.76sINFOros2-6process has finished cleanly [pid 7225] ×2 + 6.79sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.79sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.79sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.79sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.79sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.79sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.79sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.79sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.79sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.79sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.80sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.80sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.80sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.94sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737880.01574326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.20sINFOros2-5process has finished cleanly [pid 7224] ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 7.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 7.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.36sWARNros2_control_nodeCamera render tick took 1.86 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 + 8.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.41sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 9.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 9.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 9.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 466 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-3process has finished cleanly [pid 7222] ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.02sINFOobjective_server_nodecaller: ×14 + 0.02sINFOobjective_server_nodetype: 0 ×14 + 0.02sINFOobjective_server_nodename: "" ×14 + 0.02sINFOobjective_server_nodeinstance_id: "" ×14 + 0.02sINFOobjective_server_node ×14 + 0.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737879.40785599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.09sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737879.41808486 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.17sINFOros2_control_node[2026-09-18 13:24:39.493] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-09-18 13:24:39.493] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-18 13:24:39.498] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.51sINFOros2-6process has finished cleanly [pid 7225] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.54sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.54sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.54sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737880.01574326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.95sINFOros2-5process has finished cleanly [pid 7224] ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.10sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 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 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 4.64sWARNros2_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 + 5.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.23sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 7.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 505 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.03sINFOros2_control_node[2026-09-18 13:24:38.674] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-18 13:24:38.675] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.32sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.32sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.32sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.33sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.33sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.34sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.34sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.35sINFOros2-8process has finished cleanly [pid 7227] ×2 + 0.36sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.36sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.36sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.36sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.36sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.36sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.37sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.37sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.68sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.68sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.70sINFOros2-3process has finished cleanly [pid 7222] ×2 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.70sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.70sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.70sINFOobjective_server_nodecaller: ×14 + 0.70sINFOobjective_server_nodetype: 0 ×14 + 0.70sINFOobjective_server_nodename: "" ×14 + 0.70sINFOobjective_server_nodeinstance_id: "" ×14 + 0.70sINFOobjective_server_node ×14 + 0.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737879.40785599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.77sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737879.41808486 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.78sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.78sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.80sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.80sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.80sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.80sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_node[2026-09-18 13:24:39.493] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.85sINFOros2_control_node[2026-09-18 13:24:39.493] [info] Controller state will be published at 50 Hz. ×2 + 0.85sINFOros2_control_node[2026-09-18 13:24:39.498] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 1.16sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 1.19sINFOros2-6process has finished cleanly [pid 7225] ×2 + 1.22sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.22sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.22sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.22sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.22sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.22sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.22sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.22sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.23sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.23sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.23sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.23sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737880.01574326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.63sINFOros2-5process has finished cleanly [pid 7224] ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.79sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 5.32sWARNros2_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 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.91sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 6.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.81sINFOros2_control_node[2026-09-18 13:24:47.083] [info] Received new action goal ×2 + 6.81sINFOros2_control_node[2026-09-18 13:24:47.083] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 184 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/2026-09-18-13-24-32-701053-f4e76ba8d940-7172 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362455 ms (missed cycles : 3). + 0.90sINFOros2_control_node-1process started with pid [7220] ×2 + 0.90sINFOmove_group-9process started with pid [7271] ×2 + 0.90sINFOparameter_manager_node-10process started with pid [7272] ×2 + 0.90sINFOwaypoint_manager_node-11process started with pid [7273] ×2 + 0.90sINFOmove_joint_resampler_node-12process started with pid [7274] ×2 + 0.90sINFOmove_end_effector_resampler_node-13process started with pid [7275] ×2 + 0.90sINFOobjective_server_node_main-14process started with pid [7276] ×2 + 0.90sINFOcomponent_container_mt-15process started with pid [7277] ×2 + 0.90sINFOcomponent_container_mt-16process started with pid [7278] ×2 + 0.90sINFOexecute_objective_bridge-17process started with pid [7279] ×2 + 0.90sINFOui_teleop_bridge-18process started with pid [7280] ×2 + 0.90sINFOweb_bridge-19process started with pid [7281] ×2 + 0.90sINFOtf2_web_republisher_node-20process started with pid [7352] ×2 + 0.90sINFOvideo_server-21process started with pid [7353] ×2 + 0.90sINFOweb_bridge_auth_proxy-22process started with pid [7354] ×2 + 0.90sINFOweb_video_auth_proxy-23process started with pid [7355] ×2 + 0.90sINFOros2-2process started with pid [7221] ×2 + 0.91sINFOros2-3process started with pid [7222] ×2 + 0.91sINFOros2-4process started with pid [7223] ×2 + 0.91sINFOros2-5process started with pid [7224] ×2 + 0.91sINFOros2-6process started with pid [7225] ×2 + 0.91sINFOros2-7process started with pid [7226] ×2 + 0.91sINFOros2-8process started with pid [7227] ×2 + 0.93sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.93sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.93sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.93sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.93sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.93sWARNros2_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 + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362455 ms (missed cycles : 3).[0m ×2 + 0.95sINFOcontroller_managerReceived robot description from topic. + 0.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.18sINFOvideo_server2026/09/18 13:24:34 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.18sINFOvideo_server2026/09/18 13:24:34 INF configuration loaded from /tmp/moveit-webrtc-e7hz4nyh/mediamtx.yml ×2 + 1.18sINFOvideo_server2026/09/18 13:24:34 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.18sINFOvideo_server2026/09/18 13:24:34 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.52sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.65sINFOmove_group[2026-09-18 13:24:34.727] [moveit_pro_license] [info] ×2 + 1.65sINFOmove_group************************************************* ×4 + 1.65sINFOmove_group* MoveIt Pro License ×2 + 1.65sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.88sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.94sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.03sINFOmove_group ×4 + 2.03sINFOmove_group[92mYou can start planning now![0m ×2 + 2.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.09sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.35sINFOwaypoint_manager_node[2026-09-18 13:24:35.423] [moveit_pro_license] [info] ×2 + 2.35sINFOwaypoint_manager_node************************************************* ×4 + 2.35sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.35sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.44sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.28sINFOobjective_server_node[2026-09-18 13:24:36.354] [moveit_pro_license] [info] ×2 + 3.28sINFOobjective_server_node************************************************* ×4 + 3.28sINFOobjective_server_node* MoveIt Pro License ×2 + 3.28sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.40sINFOobjective_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 + 3.40sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.41sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.41sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.46sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.46sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 30 warnings · 539 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sWARNobjective_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 + 0.03sINFOros2-2process has finished cleanly [pid 7221] ×2 + 0.11sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.11sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.14sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.14sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_node[2026-09-18 13:24:38.210] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-18 13:24:38.211] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278597 ms (missed cycles : 5). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278597 ms (missed cycles : 5).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7226] ×2 + 0.57sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.57sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.61sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.61sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.61sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.64sINFOros2_control_node[2026-09-18 13:24:38.674] [info] Controller state will be published at 20 Hz. ×2 + 0.64sINFOros2_control_node[2026-09-18 13:24:38.675] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.93sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.93sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.93sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.93sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.95sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.96sINFOros2-8process has finished cleanly [pid 7227] ×2 + 0.97sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.97sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2).[0m ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.29sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.31sINFOros2-3process has finished cleanly [pid 7222] ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.31sINFOobjective_server_nodecaller: ×14 + 1.31sINFOobjective_server_nodetype: 0 ×14 + 1.31sINFOobjective_server_nodename: "" ×14 + 1.31sINFOobjective_server_nodeinstance_id: "" ×14 + 1.31sINFOobjective_server_node ×14 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737879.40785599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 1.38sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737879.41808486 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.41sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.41sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.41sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.41sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.46sINFOros2_control_node[2026-09-18 13:24:39.493] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.46sINFOros2_control_node[2026-09-18 13:24:39.493] [info] Controller state will be published at 50 Hz. ×2 + 1.46sINFOros2_control_node[2026-09-18 13:24:39.498] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.77sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.77sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 1.77sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 1.80sINFOros2-6process has finished cleanly [pid 7225] ×2 + 1.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.83sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.83sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.83sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.83sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.83sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.83sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.84sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.84sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737880.01574326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOros2-5process has finished cleanly [pid 7224] ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.39sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 5.93sWARNros2_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 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.51sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 30 warnings · 539 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sWARNobjective_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 + 0.03sINFOros2-2process has finished cleanly [pid 7221] ×2 + 0.11sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.11sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.14sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.14sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_node[2026-09-18 13:24:38.210] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-18 13:24:38.211] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278597 ms (missed cycles : 5). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278597 ms (missed cycles : 5).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7226] ×2 + 0.57sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.57sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.61sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.61sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.61sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.64sINFOros2_control_node[2026-09-18 13:24:38.674] [info] Controller state will be published at 20 Hz. ×2 + 0.64sINFOros2_control_node[2026-09-18 13:24:38.675] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.93sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.93sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.93sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.93sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.95sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.96sINFOros2-8process has finished cleanly [pid 7227] ×2 + 0.97sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.97sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2).[0m ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.29sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.31sINFOros2-3process has finished cleanly [pid 7222] ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.31sINFOobjective_server_nodecaller: ×14 + 1.31sINFOobjective_server_nodetype: 0 ×14 + 1.31sINFOobjective_server_nodename: "" ×14 + 1.31sINFOobjective_server_nodeinstance_id: "" ×14 + 1.31sINFOobjective_server_node ×14 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737879.40785599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 1.38sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737879.41808486 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.41sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.41sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.41sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.41sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.46sINFOros2_control_node[2026-09-18 13:24:39.493] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.46sINFOros2_control_node[2026-09-18 13:24:39.493] [info] Controller state will be published at 50 Hz. ×2 + 1.46sINFOros2_control_node[2026-09-18 13:24:39.498] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.77sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.77sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 1.77sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 1.80sINFOros2-6process has finished cleanly [pid 7225] ×2 + 1.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.83sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.83sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.83sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.83sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.83sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.83sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.84sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.84sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737880.01574326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOros2-5process has finished cleanly [pid 7224] ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.39sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 5.93sWARNros2_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 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.51sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 30 warnings · 539 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sWARNobjective_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 + 0.03sINFOros2-2process has finished cleanly [pid 7221] ×2 + 0.11sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.11sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.14sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.14sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_node[2026-09-18 13:24:38.210] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-18 13:24:38.211] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278597 ms (missed cycles : 5). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278597 ms (missed cycles : 5).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 7226] ×2 + 0.57sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.57sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.61sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.61sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.61sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.64sINFOros2_control_node[2026-09-18 13:24:38.674] [info] Controller state will be published at 20 Hz. ×2 + 0.64sINFOros2_control_node[2026-09-18 13:24:38.675] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.93sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.93sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.93sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.93sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.95sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.96sINFOros2-8process has finished cleanly [pid 7227] ×2 + 0.97sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.97sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2).[0m ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.29sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.31sINFOros2-3process has finished cleanly [pid 7222] ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.31sINFOobjective_server_nodecaller: ×14 + 1.31sINFOobjective_server_nodetype: 0 ×14 + 1.31sINFOobjective_server_nodename: "" ×14 + 1.31sINFOobjective_server_nodeinstance_id: "" ×14 + 1.31sINFOobjective_server_node ×14 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737879.40785599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 1.38sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737879.41808486 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.41sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.41sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.41sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.41sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.46sINFOros2_control_node[2026-09-18 13:24:39.493] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.46sINFOros2_control_node[2026-09-18 13:24:39.493] [info] Controller state will be published at 50 Hz. ×2 + 1.46sINFOros2_control_node[2026-09-18 13:24:39.498] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.77sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.77sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 1.77sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 1.80sINFOros2-6process has finished cleanly [pid 7225] ×2 + 1.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.83sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.83sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.83sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.83sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.83sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.83sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.84sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.84sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737880.01574326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOros2-5process has finished cleanly [pid 7224] ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.39sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 5.93sWARNros2_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 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.51sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 505 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.03sINFOros2_control_node[2026-09-18 13:24:38.674] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-18 13:24:38.675] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.32sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.32sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.32sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.33sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.33sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.34sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.34sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.35sINFOros2-8process has finished cleanly [pid 7227] ×2 + 0.36sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.36sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.36sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.36sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.36sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.36sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.37sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.37sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738551 ms (missed cycles : 2).[0m ×2 + 0.68sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.68sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.68sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.70sINFOros2-3process has finished cleanly [pid 7222] ×2 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.70sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.70sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.70sINFOobjective_server_nodecaller: ×14 + 0.70sINFOobjective_server_nodetype: 0 ×14 + 0.70sINFOobjective_server_nodename: "" ×14 + 0.70sINFOobjective_server_nodeinstance_id: "" ×14 + 0.70sINFOobjective_server_node ×14 + 0.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737879.40785599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.77sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737879.41808486 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.78sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.78sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.80sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.80sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.80sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.80sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_node[2026-09-18 13:24:39.493] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.85sINFOros2_control_node[2026-09-18 13:24:39.493] [info] Controller state will be published at 50 Hz. ×2 + 0.85sINFOros2_control_node[2026-09-18 13:24:39.498] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 1.16sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 1.19sINFOros2-6process has finished cleanly [pid 7225] ×2 + 1.22sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.22sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.22sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.22sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.22sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.22sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.22sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.22sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.23sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.23sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.23sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.23sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737880.01574326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.63sINFOros2-5process has finished cleanly [pid 7224] ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.79sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 5.32sWARNros2_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 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.91sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 458 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-3process has finished cleanly [pid 7222] ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.02sINFOobjective_server_nodecaller: ×14 + 0.02sINFOobjective_server_nodetype: 0 ×14 + 0.02sINFOobjective_server_nodename: "" ×14 + 0.02sINFOobjective_server_nodeinstance_id: "" ×14 + 0.02sINFOobjective_server_node ×14 + 0.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737879.40785599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.09sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737879.41808486 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-09-18 13:24:39.448] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.17sINFOros2_control_node[2026-09-18 13:24:39.493] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-09-18 13:24:39.493] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-18 13:24:39.498] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt + 0.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b5earl8h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vjuhw2t0 --params-file /tmp/launch_params_7z_eowlt [0m ×2 + 0.51sINFOros2-6process has finished cleanly [pid 7225] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.54sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.54sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.54sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789737880.01574326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sINFOros2-5process has finished cleanly [pid 7224] ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.10sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 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 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 4.64sWARNros2_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 + 5.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.23sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 324 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 6.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.81sINFOros2_control_node[2026-09-18 13:24:47.083] [info] Received new action goal ×2 + 6.81sINFOros2_control_node[2026-09-18 13:24:47.083] [info] Accepted new action goal ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 6.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 7224] ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620652 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789737880.92587781 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789737881.54074812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789737881.60089302 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014120 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737882.26178193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737882.28189468 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589798 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737882.87936854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737883.03010893 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737883.75456262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347996 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737883.80469060 seconds ×3 + 3.69sWARNros2_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 + 4.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789737884.40829968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_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 ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.2762e-05 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-18 13:24:44.551] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189083 ms (missed cycles : 5).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052513 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778704 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 | ||||