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 | 163 warnings · 18438 info |
+ 0.00sWARNros2_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 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058271 ms (missed cycles : 5). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058271 ms (missed cycles : 5).[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101308 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101308 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613705 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613705 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789753784.22879696 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789753784.83418775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.578058 ms (missed cycles : 8). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.578058 ms (missed cycles : 8).[0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.83sINFOros2_control_node[2026-09-18 17:49:45.008] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-18 17:49:45.008] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992001 ms (missed cycles : 2). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992001 ms (missed cycles : 2).[0m ×2 + 5.03sWARNros2_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 + 5.10sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.11sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796260 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796260 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157205 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157205 ms (missed cycles : 2).[0m ×2 + 7.38sINFOjoint_trajectory_controllerReceived new action goal ×3029 + 7.38sINFOjoint_trajectory_controllerAccepted new action goal ×3029 + 7.38sINFOros2_control_nodeReceived new action goal[0m ×6058 + 7.38sINFOros2_control_nodeAccepted new action goal[0m ×6058 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098899 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098899 ms (missed cycles : 2).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762273 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762273 ms (missed cycles : 2).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803392 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803392 ms (missed cycles : 2).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977671 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977671 ms (missed cycles : 3).[0m ×2 + 11.30sWARNros2_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 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716090 ms (missed cycles : 3). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716090 ms (missed cycles : 3).[0m ×2 + 12.18sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.18sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.18sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.18sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526979 ms (missed cycles : 4). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526979 ms (missed cycles : 4).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880050 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880050 ms (missed cycles : 2).[0m ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322329 ms (missed cycles : 2). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322329 ms (missed cycles : 2).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598079 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598079 ms (missed cycles : 2).[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619683 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619683 ms (missed cycles : 2).[0m ×2 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817080 ms (missed cycles : 2). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817080 ms (missed cycles : 2).[0m ×2 + 19.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×4 + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005454 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005454 ms (missed cycles : 2).[0m ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792728 ms (missed cycles : 2). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792728 ms (missed cycles : 2).[0m ×2 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254972 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254972 ms (missed cycles : 2).[0m ×2 + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963599 ms (missed cycles : 2). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963599 ms (missed cycles : 2).[0m ×2 + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800856 ms (missed cycles : 2). + 23.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800856 ms (missed cycles : 2).[0m ×2 + 24.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987248 ms (missed cycles : 2). + 24.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987248 ms (missed cycles : 2).[0m ×2 + 25.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431488 ms (missed cycles : 2). + 25.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431488 ms (missed cycles : 2).[0m ×2 + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071003 ms (missed cycles : 2). + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071003 ms (missed cycles : 2).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713595 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713595 ms (missed cycles : 2).[0m ×2 + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705519 ms (missed cycles : 2). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705519 ms (missed cycles : 2).[0m ×2 + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808599 ms (missed cycles : 2). + 29.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808599 ms (missed cycles : 2).[0m ×2 + 30.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992373 ms (missed cycles : 2). + 30.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992373 ms (missed cycles : 2).[0m ×2 + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923264 ms (missed cycles : 2). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923264 ms (missed cycles : 2).[0m ×2 + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844302 ms (missed cycles : 2). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844302 ms (missed cycles : 2).[0m ×2 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789136 ms (missed cycles : 6). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789136 ms (missed cycles : 6).[0m ×2 + 34.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739327 ms (missed cycles : 2). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739327 ms (missed cycles : 2).[0m ×2 + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128218 ms (missed cycles : 3). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128218 ms (missed cycles : 3).[0m ×2 + 36.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788329 ms (missed cycles : 2). + 36.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788329 ms (missed cycles : 2).[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487364 ms (missed cycles : 3). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487364 ms (missed cycles : 3).[0m ×2 + 38.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727204 ms (missed cycles : 2). + 38.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727204 ms (missed cycles : 2).[0m ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926688 ms (missed cycles : 2). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926688 ms (missed cycles : 2).[0m ×2 + 40.28sWARNros2_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 + 40.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716245 ms (missed cycles : 2). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716245 ms (missed cycles : 2).[0m ×2 + 41.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196737 ms (missed cycles : 2). + 41.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196737 ms (missed cycles : 2).[0m ×2 + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724934 ms (missed cycles : 2). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724934 ms (missed cycles : 2).[0m ×2 + 44.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174631 ms (missed cycles : 4). + 44.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174631 ms (missed cycles : 4).[0m ×2 + 45.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993908 ms (missed cycles : 2). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993908 ms (missed cycles : 2).[0m ×2 + 46.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771937 ms (missed cycles : 2). + 46.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771937 ms (missed cycles : 2).[0m ×2 + 47.21sWARNros2_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 + 47.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667589 ms (missed cycles : 2). + 47.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667589 ms (missed cycles : 2).[0m ×2 + 47.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789753828.71891379 seconds ×3 + 47.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 48.10sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789753829.36273551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368628 ms (missed cycles : 4). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368628 ms (missed cycles : 4).[0m ×2 + 48.31sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.34sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 48.35sINFOros2_control_node[2026-09-18 17:50:29.526] [info] Received new action goal ×2 + 48.35sINFOros2_control_node[2026-09-18 17:50:29.526] [info] Accepted new action goal ×2 + 49.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862512 ms (missed cycles : 3). + 49.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862512 ms (missed cycles : 3).[0m ×2 + 50.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358721 ms (missed cycles : 2). + 50.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358721 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.0s | 157 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789753726.44539499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789753728.58553672 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789753730.22597265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2).[0m ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.12sINFOros2_control_node[2026-09-18 17:48:53.510] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-09-18 17:48:53.510] [info] Accepted new action goal ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528109 ms (missed cycles : 4). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528109 ms (missed cycles : 4).[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.731695 ms (missed cycles : 5). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.731695 ms (missed cycles : 5).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.049352 ms (missed cycles : 5). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.049352 ms (missed cycles : 5).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500575 ms (missed cycles : 5). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500575 ms (missed cycles : 5).[0m ×2 + 10.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.27sINFOros2_control_node[2026-09-18 17:48:56.660] [info] Received new action goal ×2 + 10.27sINFOros2_control_node[2026-09-18 17:48:56.660] [info] Accepted new action goal ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627558 ms (missed cycles : 4). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627558 ms (missed cycles : 4).[0m ×2 + 11.69sWARNros2_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 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596770 ms (missed cycles : 2). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596770 ms (missed cycles : 2).[0m ×2 + 13.25sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 13.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.30sINFOros2_control_node[2026-09-18 17:48:59.684] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-09-18 17:48:59.684] [info] Accepted new action goal ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.897352 ms (missed cycles : 6). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.897352 ms (missed cycles : 6).[0m ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551440 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551440 ms (missed cycles : 2).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693542 ms (missed cycles : 2). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693542 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 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905786 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905786 ms (missed cycles : 2).[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.612862 ms (missed cycles : 6). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.612862 ms (missed cycles : 6).[0m ×2 + 17.79sWARNros2_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 + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159169 ms (missed cycles : 5). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159169 ms (missed cycles : 5).[0m ×2 + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945782 ms (missed cycles : 2). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945782 ms (missed cycles : 2).[0m ×2 + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568136 ms (missed cycles : 3). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568136 ms (missed cycles : 3).[0m ×2 + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355882 ms (missed cycles : 5). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355882 ms (missed cycles : 5).[0m ×2 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538646 ms (missed cycles : 2). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538646 ms (missed cycles : 2).[0m ×2 + 23.88sINFOobjective_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 + 23.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.89sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.89sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.89sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.89sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225333 ms (missed cycles : 4). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225333 ms (missed cycles : 4).[0m ×2 + 24.84sINFOros2_control_node[2026-09-18 17:49:11.225] [info] Received new action goal ×2 + 24.84sINFOros2_control_node[2026-09-18 17:49:11.225] [info] Accepted new action goal ×2 + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941641 ms (missed cycles : 4). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941641 ms (missed cycles : 4).[0m ×2 + 26.02sINFOobjective_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 + 26.03sINFOobjective_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 + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233285 ms (missed cycles : 2). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233285 ms (missed cycles : 2).[0m ×2 + 26.31sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 26.37sINFOros2_control_node[2026-09-18 17:49:12.756] [info] Received new action goal ×2 + 26.37sINFOros2_control_node[2026-09-18 17:49:12.756] [info] Accepted new action goal ×2 + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305712 ms (missed cycles : 2). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305712 ms (missed cycles : 2).[0m ×2 + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696512 ms (missed cycles : 3). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696512 ms (missed cycles : 3).[0m ×2 + 28.67sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 28.67sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.69sINFOros2_control_node[2026-09-18 17:49:15.075] [info] Received new action goal ×2 + 28.69sINFOros2_control_node[2026-09-18 17:49:15.075] [info] Accepted new action goal ×2 + 29.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082660 ms (missed cycles : 2). + 29.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082660 ms (missed cycles : 2).[0m ×2 + 30.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929762 ms (missed cycles : 3). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929762 ms (missed cycles : 3).[0m ×2 + 30.71sWARNros2_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 + 31.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098360 ms (missed cycles : 2). + 31.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098360 ms (missed cycles : 2).[0m ×2 + 31.71sINFOros2_control_node[2026-09-18 17:49:18.096] [info] Received new action goal ×2 + 31.71sINFOros2_control_node[2026-09-18 17:49:18.096] [info] Accepted new action goal ×2 + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189408 ms (missed cycles : 5). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189408 ms (missed cycles : 5).[0m ×2 + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693891 ms (missed cycles : 4). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693891 ms (missed cycles : 4).[0m ×2 + 34.30sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 34.31sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.36sINFOros2_control_node[2026-09-18 17:49:20.750] [info] Received new action goal ×2 + 34.36sINFOros2_control_node[2026-09-18 17:49:20.750] [info] Accepted new action goal ×2 + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696184 ms (missed cycles : 3). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696184 ms (missed cycles : 3).[0m ×2 + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403576 ms (missed cycles : 4). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403576 ms (missed cycles : 4).[0m ×2 + 36.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409023 ms (missed cycles : 2). + 36.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409023 ms (missed cycles : 2).[0m ×2 + 37.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490262 ms (missed cycles : 6). + 37.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490262 ms (missed cycles : 6).[0m ×2 + 38.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928665 ms (missed cycles : 2). + 38.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928665 ms (missed cycles : 2).[0m ×2 + 40.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472042 ms (missed cycles : 3). + 40.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472042 ms (missed cycles : 3).[0m ×2 + 41.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.174384 ms (missed cycles : 6). + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.174384 ms (missed cycles : 6).[0m ×2 + 41.82sWARNros2_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 + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323953 ms (missed cycles : 5). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323953 ms (missed cycles : 5).[0m ×2 + 43.09sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687578 ms (missed cycles : 2). + 43.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687578 ms (missed cycles : 2).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699336 ms (missed cycles : 2). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699336 ms (missed cycles : 2).[0m ×2 + 45.07sINFOros2_control_node[2026-09-18 17:49:31.457] [info] Received new action goal ×2 + 45.07sINFOros2_control_node[2026-09-18 17:49:31.457] [info] Accepted new action goal ×2 + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213574 ms (missed cycles : 3). + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213574 ms (missed cycles : 3).[0m ×2 + 46.22sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789753772.60921645 seconds ×3 + 46.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420312 ms (missed cycles : 5). + 46.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420312 ms (missed cycles : 5).[0m ×2 + 46.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.82sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.01sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789753773.39644957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080139 ms (missed cycles : 2). + 47.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080139 ms (missed cycles : 2).[0m ×2 + 48.04sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 48.06sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.07sINFOros2_control_node[2026-09-18 17:49:34.452] [info] Received new action goal ×2 + 48.07sINFOros2_control_node[2026-09-18 17:49:34.452] [info] Accepted new action goal ×2 + 48.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 48.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767935 ms (missed cycles : 2). + 48.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767935 ms (missed cycles : 2).[0m ×2 + 49.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859304 ms (missed cycles : 2). + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859304 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 89 warnings · 13040 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2140 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2140 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4280 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4280 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993908 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993908 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771937 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771937 ms (missed cycles : 2).[0m ×2 + 2.95sWARNros2_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 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667589 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667589 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789753828.71891379 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_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 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789753829.36273551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368628 ms (missed cycles : 4). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368628 ms (missed cycles : 4).[0m ×2 + 4.05sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.09sINFOros2_control_node[2026-09-18 17:50:29.526] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 17:50:29.526] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862512 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862512 ms (missed cycles : 3).[0m ×2 + 5.33sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.39sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358721 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358721 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150381 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150381 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891816 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891816 ms (missed cycles : 2).[0m ×2 + 8.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726316 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726316 ms (missed cycles : 2).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298073 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298073 ms (missed cycles : 2).[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966036 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966036 ms (missed cycles : 2).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534876 ms (missed cycles : 2). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534876 ms (missed cycles : 2).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740958 ms (missed cycles : 2). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740958 ms (missed cycles : 2).[0m ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841402 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841402 ms (missed cycles : 2).[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917006 ms (missed cycles : 2). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917006 ms (missed cycles : 2).[0m ×2 + 15.99sWARNros2_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 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557752 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557752 ms (missed cycles : 2).[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821620 ms (missed cycles : 2). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821620 ms (missed cycles : 2).[0m ×2 + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.108512 ms (missed cycles : 7). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.108512 ms (missed cycles : 7).[0m ×2 + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011889 ms (missed cycles : 2). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011889 ms (missed cycles : 2).[0m ×2 + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289589 ms (missed cycles : 2). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289589 ms (missed cycles : 2).[0m ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935733 ms (missed cycles : 2). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935733 ms (missed cycles : 2).[0m ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2).[0m ×2 + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2).[0m ×2 + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2).[0m ×2 + 25.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789753850.85301709 seconds ×3 + 25.42sDEBUGobjective_server_node.rclcpp_actionReceived status for unknown goal. Ignoring... + 25.42sINFOobjective_server_node[0;m[32m[DEBUG] [2026-09-18 17:50:50.853] Received status for unknown goal. Ignoring...[0m ×2 + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2).[0m ×2 + 26.04sINFOobjective_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: ""
+ 26.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789753851.57566857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.33sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 26.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.33sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Received new action goal ×2 + 26.34sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Accepted new action goal ×2 + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3).[0m ×2 + 27.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4). + 27.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836989 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836989 ms (missed cycles : 3).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×4 + 0.18sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.30sINFOobjective_server_nodeFound path in 1 iterations (0.00328029 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.53sINFOros2_control_node[2026-09-18 17:48:30.403] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-18 17:48:30.403] [info] Accepted new action goal ×2 + 0.96sINFOros2_control_node[2026-09-18 17:48:30.835] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-09-18 17:48:30.835] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855367 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855367 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233576 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233576 ms (missed cycles : 2).[0m ×2 + 2.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_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 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.13sERRORobjective_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: 1789753713.00076127 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804809 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804809 ms (missed cycles : 2).[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.83sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.83sINFOobjective_server_nodecaller: ×6 + 3.83sINFOobjective_server_nodetype: 0 ×6 + 3.83sINFOobjective_server_nodename: "" ×6 + 3.83sINFOobjective_server_nodeinstance_id: "" ×6 + 3.83sINFOobjective_server_node ×6 + 3.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789753713.81563616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.14sINFOros2_control_node[2026-09-18 17:48:34.010] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 17:48:34.010] [info] Accepted new action goal ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085299 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085299 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105075 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105075 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671213 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671213 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_node[2026-09-18 17:48:36.552] [info] Received new action goal ×2 + 6.68sINFOros2_control_node[2026-09-18 17:48:36.552] [info] Accepted new action goal ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939074 ms (missed cycles : 4). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939074 ms (missed cycles : 4).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926055 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926055 ms (missed cycles : 2).[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285239 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285239 ms (missed cycles : 2).[0m ×2 + 10.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703245 ms (missed cycles : 5). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.703245 ms (missed cycles : 5).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851223 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851223 ms (missed cycles : 2).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023081 ms (missed cycles : 2). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023081 ms (missed cycles : 2).[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142969 ms (missed cycles : 4). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142969 ms (missed cycles : 4).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627119 ms (missed cycles : 5). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627119 ms (missed cycles : 5).[0m ×2 + 15.25sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789753725.12118125 seconds ×3 + 15.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.86sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.91sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789753725.78563809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.97sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789753725.84579706 seconds ×3 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881434 ms (missed cycles : 3). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881434 ms (missed cycles : 3).[0m ×2 + 16.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.51sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.57sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789753726.44539499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.69sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 16.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.71sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Received new action goal ×2 + 16.71sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Accepted new action goal ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3).[0m ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4).[0m ×2 + 18.71sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789753728.58553672 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 222 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687578 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687578 ms (missed cycles : 2).[0m ×2 + 1.07sINFOobjective_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 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.07sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.07sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.07sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.07sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699336 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699336 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.98sINFOros2_control_node[2026-09-18 17:49:31.457] [info] Received new action goal ×2 + 1.98sINFOros2_control_node[2026-09-18 17:49:31.457] [info] Accepted new action goal ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213574 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213574 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789753772.60921645 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420312 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420312 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.92sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789753773.39644957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080139 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080139 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.97sINFOros2_control_node[2026-09-18 17:49:34.452] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-09-18 17:49:34.452] [info] Accepted new action goal ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767935 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767935 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859304 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859304 ms (missed cycles : 2).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.397780 ms (missed cycles : 5). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.397780 ms (missed cycles : 5).[0m ×2 + 8.67sINFOobjective_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 + 8.67sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.67sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.67sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.67sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920160 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920160 ms (missed cycles : 3).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772502 ms (missed cycles : 4). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772502 ms (missed cycles : 4).[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618707 ms (missed cycles : 2). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618707 ms (missed cycles : 2).[0m ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 11.14sINFOros2_control_node[2026-09-18 17:49:40.624] [info] Received new action goal ×2 + 11.14sINFOros2_control_node[2026-09-18 17:49:40.624] [info] Accepted new action goal ×2 + 11.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058271 ms (missed cycles : 5). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058271 ms (missed cycles : 5).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101308 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101308 ms (missed cycles : 2).[0m ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613705 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613705 ms (missed cycles : 2).[0m ×2 + 14.75sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789753784.22879696 seconds ×3 + 15.29sINFOobjective_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: ""
+ 15.29sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789753784.83418775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.578058 ms (missed cycles : 8). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.578058 ms (missed cycles : 8).[0m ×2 + 15.52sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 15.52sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.53sINFOros2_control_node[2026-09-18 17:49:45.008] [info] Received new action goal ×2 + 15.53sINFOros2_control_node[2026-09-18 17:49:45.008] [info] Accepted new action goal ×2 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992001 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992001 ms (missed cycles : 2).[0m ×2 + 16.72sWARNros2_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 + 16.79sINFOobjective_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 + 16.80sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796260 ms (missed cycles : 2). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796260 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 57 warnings · 388 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 0.97sERRORobjective_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: 1789753894.48444295 seconds ×3 + 0.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.54sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.54sINFOobjective_server_nodecaller: ×12 + 1.54sINFOobjective_server_nodetype: 0 ×12 + 1.54sINFOobjective_server_nodename: "" ×12 + 1.54sINFOobjective_server_nodeinstance_id: "" ×12 + 1.54sINFOobjective_server_node ×12 + 1.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789753895.11402822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789753895.18442440 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789753895.79588938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_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 + 2.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789753895.81938934 seconds ×3 + 2.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789753896.52797818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6).[0m ×2 + 3.14sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000306 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000306 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109579 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109579 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.47sINFOros2_control_node[2026-09-18 17:51:39.981] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-18 17:51:39.982] [info] Accepted new action goal ×2 + 6.47sINFOros2_control_node[2026-09-18 17:51:39.982] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879847 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879847 ms (missed cycles : 2).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482647 ms (missed cycles : 3). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482647 ms (missed cycles : 3).[0m ×2 + 9.59sWARNros2_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 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157136 ms (missed cycles : 6). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157136 ms (missed cycles : 6).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003086 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003086 ms (missed cycles : 2).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821036 ms (missed cycles : 3). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821036 ms (missed cycles : 3).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768979 ms (missed cycles : 5). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768979 ms (missed cycles : 5).[0m ×2 + 13.48sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Got request to cancel active goal. ×2 + 13.48sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Canceling active goal... ×2 + 13.48sERRORobjective_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: 1789753906.99285102 seconds ×3 + 14.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.03sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789753907.59106565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7).[0m ×2 + 14.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2).[0m ×2 + 15.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789753908.77119756 seconds ×3 + 15.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.80sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.86sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789753909.36527061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.86sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.86sINFOobjective_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 + 15.86sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.86sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789753909.36718297 seconds ×3 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4).[0m ×2 + 16.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.48sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789753910.04367042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789753910.09480739 seconds ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 57 warnings · 2204 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2).[0m ×2 + 0.81sWARNros2_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 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789753850.85301709 seconds ×3 + 3.29sDEBUGobjective_server_node.rclcpp_actionReceived status for unknown goal. Ignoring... + 3.29sINFOobjective_server_node[0;m[32m[DEBUG] [2026-09-18 17:50:50.853] Received status for unknown goal. Ignoring...[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_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: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.91sINFOobjective_server_nodecaller: ×4 + 3.91sINFOobjective_server_nodetype: 0 ×4 + 3.91sINFOobjective_server_nodename: "" ×4 + 3.91sINFOobjective_server_nodeinstance_id: "" ×4 + 3.91sINFOobjective_server_node ×4 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789753851.57566857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993359 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993359 ms (missed cycles : 3).[0m ×2 + 7.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 7.83sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.83sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.83sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.02sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 1 iterations (0.00353248 s). ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.762245 ms (missed cycles : 6). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.762245 ms (missed cycles : 6).[0m ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.34sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.37sINFOros2_control_node[2026-09-18 17:50:55.933] [info] Received new action goal ×2 + 8.37sINFOros2_control_node[2026-09-18 17:50:55.933] [info] Accepted new action goal ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931636 ms (missed cycles : 2). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931636 ms (missed cycles : 2).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777067 ms (missed cycles : 3). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777067 ms (missed cycles : 3).[0m ×2 + 10.67sINFOros2_control_node[2026-09-18 17:50:58.235] [info] Received new action goal ×2 + 10.67sINFOros2_control_node[2026-09-18 17:50:58.236] [info] Accepted new action goal ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5).[0m ×2 + 12.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.34sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Received new action goal ×2 + 12.34sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Accepted new action goal ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4).[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4).[0m ×2 + 13.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 13.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789753861.20585084 seconds ×3 + 14.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2).[0m ×2 + 15.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789753862.66359949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.27sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 15.28sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Received new action goal ×2 + 15.28sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Accepted new action goal ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5).[0m ×2 + 17.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4).[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 6.323593 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.323593 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158509 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158509 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418781 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418781 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789753883.46974659 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761598 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761598 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.49sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.49sINFOobjective_server_nodecaller: ×8 + 3.49sINFOobjective_server_nodetype: 0 ×8 + 3.49sINFOobjective_server_nodename: "" ×8 + 3.49sINFOobjective_server_nodeinstance_id: "" ×8 + 3.49sINFOobjective_server_node ×8 + 3.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789753884.13419247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.69sINFOros2_control_node[2026-09-18 17:51:24.268] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-18 17:51:24.268] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088967 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088967 ms (missed cycles : 2).[0m ×2 + 4.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.334667 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.334667 ms (missed cycles : 5).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796975 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796975 ms (missed cycles : 3).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789917 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789917 ms (missed cycles : 3).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446867 ms (missed cycles : 4). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446867 ms (missed cycles : 4).[0m ×2 + 8.91sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236074 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236074 ms (missed cycles : 3).[0m ×2 + 10.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254040 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254040 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290106 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290106 ms (missed cycles : 2).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3).[0m ×2 + 13.90sINFOobjective_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 + 13.91sERRORobjective_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: 1789753894.48444295 seconds ×3 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3).[0m ×2 + 14.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789753895.11402822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789753895.18442440 seconds ×3 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2).[0m ×2 + 15.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.16sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789753895.79588938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.24sINFOobjective_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 + 15.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789753895.81938934 seconds ×3 + 15.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.88sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.95sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789753896.52797818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.06sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 16.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6).[0m ×2 + 16.07sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Received new action goal ×2 + 16.08sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Accepted new action goal ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2).[0m ×2 + 0.08sWARNros2_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 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.11sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789753679.37350559 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.95sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.95sINFOobjective_server_nodecaller: ×6 + 2.95sINFOobjective_server_nodetype: 0 ×6 + 2.95sINFOobjective_server_nodename: "" ×6 + 2.95sINFOobjective_server_nodeinstance_id: "" ×6 + 2.95sINFOobjective_server_node ×6 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789753680.01365185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789753680.06389236 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.75sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789753680.71291304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.87sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4).[0m ×2 + 6.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3).[0m ×2 + 7.22sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 7.22sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.23sINFOros2_control_node[2026-09-18 17:48:04.197] [info] Received new action goal ×2 + 7.23sINFOros2_control_node[2026-09-18 17:48:04.197] [info] Accepted new action goal ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374173 ms (missed cycles : 3). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374173 ms (missed cycles : 3).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816546 ms (missed cycles : 2). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816546 ms (missed cycles : 2).[0m ×2 + 9.57sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.58sINFOros2_control_node[2026-09-18 17:48:06.544] [info] Received new action goal ×2 + 9.58sINFOros2_control_node[2026-09-18 17:48:06.544] [info] Accepted new action goal ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956587 ms (missed cycles : 3). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956587 ms (missed cycles : 3).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3).[0m ×2 + 11.93sINFOobjective_server_nodeFound path in 0 iterations (7.14e-07 s). ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5).[0m ×2 + 11.95sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Received new action goal ×2 + 11.95sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Accepted new action goal ×2 + 12.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2).[0m ×2 + 14.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.12sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Got request to cancel active goal. ×2 + 14.12sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Canceling active goal... ×2 + 14.13sERRORobjective_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: 1789753691.09053349 seconds ×3 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5).[0m ×2 + 14.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.69sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.76sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789753691.72482347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 14.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.99sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Received new action goal ×2 + 14.99sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Accepted new action goal ×2 + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4).[0m ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 60 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3).[0m ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (7.14e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Accepted new action goal ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Canceling active goal... ×2 + 3.19sERRORobjective_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: 1789753691.09053349 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789753691.72482347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3).[0m ×2 + 7.39sWARNros2_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 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.44sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665351 ms (missed cycles : 5). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665351 ms (missed cycles : 5).[0m ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 7.87sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.89sINFOobjective_server_nodeFound path in 5 iterations (0.00609384 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.02sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (5.32e-07 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679007 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679007 ms (missed cycles : 2).[0m ×2 + 8.59sINFOros2_control_node[2026-09-18 17:48:16.492] [info] Received new action goal ×2 + 8.59sINFOros2_control_node[2026-09-18 17:48:16.492] [info] Accepted new action goal ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929469 ms (missed cycles : 5). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929469 ms (missed cycles : 5).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766436 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766436 ms (missed cycles : 3).[0m ×2 + 10.86sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.12sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.12sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.12sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789753699.05710483 seconds ×3 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392515 ms (missed cycles : 4). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392515 ms (missed cycles : 4).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.172627 ms (missed cycles : 6). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.172627 ms (missed cycles : 6).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217090 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217090 ms (missed cycles : 2).[0m ×2 + 14.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.81sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789753702.70717001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819302 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819302 ms (missed cycles : 2).[0m ×2 + 15.01sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 15.02sINFOros2_control_node[2026-09-18 17:48:22.921] [info] Received new action goal ×2 + 15.02sINFOros2_control_node[2026-09-18 17:48:22.921] [info] Accepted new action goal ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605473 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605473 ms (missed cycles : 3).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232277 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232277 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 57 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4).[0m ×2 + 2.07sWARNros2_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 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789753861.20585084 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789753862.66359949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237649 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237649 ms (missed cycles : 3).[0m ×2 + 8.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778205 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778205 ms (missed cycles : 2).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432764 ms (missed cycles : 4). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432764 ms (missed cycles : 4).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.052840 ms (missed cycles : 6). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.052840 ms (missed cycles : 6).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350397 ms (missed cycles : 5). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350397 ms (missed cycles : 5).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162000 ms (missed cycles : 4). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162000 ms (missed cycles : 4).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774618 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774618 ms (missed cycles : 2).[0m ×2 + 14.06sINFOobjective_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 + 14.06sERRORobjective_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: 1789753872.98402548 seconds ×3 + 14.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 14.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.61sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789753873.57989812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.93sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 14.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.96sINFOros2_control_node[2026-09-18 17:51:13.877] [info] Received new action goal ×2 + 14.96sINFOros2_control_node[2026-09-18 17:51:13.877] [info] Accepted new action goal ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570698 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570698 ms (missed cycles : 2).[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091817 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091817 ms (missed cycles : 2).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680597 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680597 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 57 warnings · 209 info |
+ 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.01sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789753699.05710483 seconds ×3 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392515 ms (missed cycles : 4). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392515 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.172627 ms (missed cycles : 6). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.172627 ms (missed cycles : 6).[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217090 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217090 ms (missed cycles : 2).[0m ×2 + 2.97sWARNros2_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 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789753702.70717001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819302 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819302 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.90sINFOros2_control_node[2026-09-18 17:48:22.921] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-18 17:48:22.921] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605473 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605473 ms (missed cycles : 3).[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232277 ms (missed cycles : 2). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232277 ms (missed cycles : 2).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608025 ms (missed cycles : 4). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608025 ms (missed cycles : 4).[0m ×2 + 7.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.29sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.57sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 7.58sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.59sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 7.62sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (1.95e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 5 iterations (0.00592158 s). ×2 + 7.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816700 ms (missed cycles : 3). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816700 ms (missed cycles : 3).[0m ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.50sINFOros2_control_node[2026-09-18 17:48:27.514] [info] Received new action goal ×2 + 8.50sINFOros2_control_node[2026-09-18 17:48:27.514] [info] Accepted new action goal ×2 + 9.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463505 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463505 ms (missed cycles : 3).[0m ×2 + 10.46sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836989 ms (missed cycles : 3). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836989 ms (missed cycles : 3).[0m ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 11.02sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×4 + 11.03sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.16sINFOobjective_server_nodeFound path in 1 iterations (0.00328029 s). ×2 + 11.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.38sINFOros2_control_node[2026-09-18 17:48:30.403] [info] Received new action goal ×2 + 11.38sINFOros2_control_node[2026-09-18 17:48:30.403] [info] Accepted new action goal ×2 + 11.82sINFOros2_control_node[2026-09-18 17:48:30.835] [info] Received new action goal ×2 + 11.82sINFOros2_control_node[2026-09-18 17:48:30.835] [info] Accepted new action goal ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855367 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855367 ms (missed cycles : 2).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233576 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233576 ms (missed cycles : 2).[0m ×2 + 13.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.97sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.97sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.97sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.98sERRORobjective_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: 1789753713.00076127 seconds ×3 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804809 ms (missed cycles : 2). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804809 ms (missed cycles : 2).[0m ×2 + 14.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.68sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.80sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789753713.81563616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 14.99sINFOros2_control_node[2026-09-18 17:48:34.010] [info] Received new action goal ×2 + 14.99sINFOros2_control_node[2026-09-18 17:48:34.010] [info] Accepted new action goal ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085299 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085299 ms (missed cycles : 2).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105075 ms (missed cycles : 2). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105075 ms (missed cycles : 2).[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671213 ms (missed cycles : 3). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671213 ms (missed cycles : 3).[0m ×2 + 17.53sINFOros2_control_node[2026-09-18 17:48:36.552] [info] Received new action goal ×2 + 17.53sINFOros2_control_node[2026-09-18 17:48:36.552] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 10.9s | 6 errors · 57 warnings · 237 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.305747 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.305747 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024957 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024957 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.155469 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.155469 ms (missed cycles : 6).[0m ×2 + 2.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.59sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 2.60sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 2.61sINFOros2_control_node[2026-09-18 17:47:36.659] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-09-18 17:47:36.659] [info] Accepted new action goal ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.04sINFOros2_control_node[2026-09-18 17:47:37.085] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-18 17:47:37.085] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1789753657.10120201 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.762762 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.762762 ms (missed cycles : 6).[0m ×2 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 3.59sINFOobjective_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: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.59sINFOobjective_server_nodecaller: ×6 + 3.59sINFOobjective_server_nodetype: 0 ×6 + 3.59sINFOobjective_server_nodename: "" ×6 + 3.59sINFOobjective_server_nodeinstance_id: "" ×6 + 3.59sINFOobjective_server_node ×6 + 3.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789753657.72072411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.87sINFOros2_control_node[2026-09-18 17:47:37.924] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-18 17:47:37.924] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986913 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986913 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866333 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866333 ms (missed cycles : 3).[0m ×2 + 5.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (5.65e-07 s). ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.16sINFOros2_control_node[2026-09-18 17:47:40.204] [info] Received new action goal ×2 + 6.16sINFOros2_control_node[2026-09-18 17:47:40.205] [info] Accepted new action goal ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552462 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552462 ms (missed cycles : 5).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399120 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399120 ms (missed cycles : 3).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183007 ms (missed cycles : 5). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183007 ms (missed cycles : 5).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757007 ms (missed cycles : 2). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757007 ms (missed cycles : 2).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120706 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120706 ms (missed cycles : 2).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5).[0m ×2 + 13.18sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 13.18sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 13.18sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 13.47sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 13.47sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 13.48sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 13.51sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 13.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 13.62sINFOobjective_server_nodeFound path in 1 iterations (0.00298487 s). ×2 + 13.80sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 13.88sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Received new action goal ×2 + 13.88sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Accepted new action goal ×2 + 13.93sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Got request to cancel active goal. ×2 + 13.93sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Canceling active goal... ×2 + 13.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789753667.99553728 seconds ×3 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5).[0m ×2 + 14.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789753668.68767452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789753668.78780079 seconds ×3 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3).[0m ×2 + 15.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.30sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789753669.41330600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.55sINFOobjective_server_nodeFound path in 0 iterations (6.69e-07 s). ×2 + 15.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.56sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Received new action goal ×2 + 15.56sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Accepted new action goal ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2).[0m ×2 + 16.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.7s | 3 errors · 59 warnings · 426 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.61sINFOobjective_server_nodecaller: ×12 + 0.61sINFOobjective_server_nodetype: 0 ×12 + 0.61sINFOobjective_server_nodename: "" ×12 + 0.61sINFOobjective_server_nodeinstance_id: "" ×12 + 0.61sINFOobjective_server_node ×12 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.22sINFOros2_control_node[2026-09-18 17:47:29.659] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-09-18 17:47:29.659] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196316 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196316 ms (missed cycles : 5).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013019 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013019 ms (missed cycles : 3).[0m ×2 + 7.82sWARNros2_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 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473277 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473277 ms (missed cycles : 2).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764130 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764130 ms (missed cycles : 2).[0m ×2 + 9.85sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 9.87sINFOros2_control_node[2026-09-18 17:47:33.309] [info] Received new action goal ×2 + 9.87sINFOros2_control_node[2026-09-18 17:47:33.309] [info] Accepted new action goal ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.305747 ms (missed cycles : 5). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.305747 ms (missed cycles : 5).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024957 ms (missed cycles : 4). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024957 ms (missed cycles : 4).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.155469 ms (missed cycles : 6). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.155469 ms (missed cycles : 6).[0m ×2 + 13.20sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 13.21sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.22sINFOros2_control_node[2026-09-18 17:47:36.659] [info] Received new action goal ×2 + 13.22sINFOros2_control_node[2026-09-18 17:47:36.659] [info] Accepted new action goal ×2 + 13.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.65sINFOros2_control_node[2026-09-18 17:47:37.085] [info] Got request to cancel active goal. ×2 + 13.65sINFOros2_control_node[2026-09-18 17:47:37.085] [info] Canceling active goal... ×2 + 13.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789753657.10120201 seconds ×3 + 13.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.762762 ms (missed cycles : 6). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.762762 ms (missed cycles : 6).[0m ×2 + 13.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 14.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.20sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789753657.72072411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.47sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 14.48sINFOros2_control_node[2026-09-18 17:47:37.924] [info] Received new action goal ×2 + 14.48sINFOros2_control_node[2026-09-18 17:47:37.924] [info] Accepted new action goal ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986913 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986913 ms (missed cycles : 3).[0m ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866333 ms (missed cycles : 3). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866333 ms (missed cycles : 3).[0m ×2 + 16.75sINFOobjective_server_nodeFound path in 0 iterations (5.65e-07 s). ×2 + 16.75sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.77sINFOros2_control_node[2026-09-18 17:47:40.204] [info] Received new action goal ×2 + 16.77sINFOros2_control_node[2026-09-18 17:47:40.205] [info] Accepted new action goal ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552462 ms (missed cycles : 5). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552462 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.6s | 3 errors · 54 warnings · 301 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5).[0m ×2 + 1.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.15sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 1.60sINFOobjective_server_nodeFound path in 1 iterations (0.00298487 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.86sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Accepted new action goal ×2 + 1.90sINFOobjective_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 + 1.91sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Got request to cancel active goal. ×2 + 1.91sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Canceling active goal... ×2 + 1.92sERRORobjective_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: 1789753667.99553728 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.53sINFOobjective_server_nodecaller: ×8 + 2.53sINFOobjective_server_nodetype: 0 ×8 + 2.53sINFOobjective_server_nodename: "" ×8 + 2.53sINFOobjective_server_nodeinstance_id: "" ×8 + 2.53sINFOobjective_server_node ×8 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789753668.68767452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789753668.78780079 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789753669.41330600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (6.69e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2).[0m ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568873 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568873 ms (missed cycles : 3).[0m ×2 + 7.37sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593401 ms (missed cycles : 4). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593401 ms (missed cycles : 4).[0m ×2 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 7.76sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.79sINFOobjective_server_nodeFound path in 1 iterations (0.00543994 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.03sINFOros2_control_node[2026-09-18 17:47:54.110] [info] Received new action goal ×2 + 8.03sINFOros2_control_node[2026-09-18 17:47:54.110] [info] Accepted new action goal ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728760 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728760 ms (missed cycles : 2).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495211 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495211 ms (missed cycles : 2).[0m ×2 + 10.33sINFOros2_control_node[2026-09-18 17:47:56.412] [info] Received new action goal ×2 + 10.33sINFOros2_control_node[2026-09-18 17:47:56.412] [info] Accepted new action goal ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2).[0m ×2 + 10.96sWARNros2_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 + 11.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.00sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Received new action goal ×2 + 12.00sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Accepted new action goal ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5).[0m ×2 + 13.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789753679.37350559 seconds ×3 + 13.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.84sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789753680.01365185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789753680.06389236 seconds ×3 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2).[0m ×2 + 14.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.58sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.63sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789753680.71291304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 14.75sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.76sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Received new action goal ×2 + 14.76sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Accepted new action goal ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2).[0m ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4).[0m ×2 + 17.02sWARNros2_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 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.5s | 59 errors · 36 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789753906.99285102 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789753907.59106565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789753908.77119756 seconds ×3 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789753909.36527061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.38sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.39sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.39sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789753909.36718297 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789753910.04367042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789753910.09480739 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789753910.70062995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671049 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671049 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789753911.30076933 seconds ×3 + 4.35sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011724 ms (missed cycles : 4). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011724 ms (missed cycles : 4).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267294 ms (missed cycles : 5). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267294 ms (missed cycles : 5).[0m ×2 + 6.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.550736 ms (missed cycles : 8). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.550736 ms (missed cycles : 8).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974759 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974759 ms (missed cycles : 4).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063318 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063318 ms (missed cycles : 2).[0m ×2 + 9.83sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.83sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.83sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.83sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.84sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORweb_video_auth_proxy-23process has died [pid 7376, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.84sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.84sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORweb_bridge_auth_proxy-22process has died [pid 7374, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.84sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.85sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.86sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.86sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.87sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.87sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.87sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.87sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.88sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.88sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.89sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.89sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.90sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.90sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.91sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.91sINFOvideo_server2026/09/18 17:51:56 INF shutting down gracefully ×2 + 9.91sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.91sINFOcontroller_managerShutdown request received.... + 9.91sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.91sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.91sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.91sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.91sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.91sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.91sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.91sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.91sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.91sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.91sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.91sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.91sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.91sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.91sINFOvideo_server2026/09/18 17:51:56 INF [WebRTC] closing ×2 + 9.91sINFOcontroller_managerShutting down the controller manager. + 9.91sINFOvideo_server2026/09/18 17:51:56 INF [RTSP] closing ×2 + 9.91sINFOvideo_server2026/09/18 17:51:56 INF waiting for running hooks ×2 + 9.92sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.92sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.92sERRORmove_groupStack trace (most recent call last) in thread 7719: ×2 + 9.92sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.92sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.92sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.92sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.92sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.92sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.92sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.92sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.92sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.92sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.92sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.92sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.92sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.92sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.92sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 9.92sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908f1aea63, in __clone ×2 + 9.92sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908f121aa3, in ×2 + 9.92sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f908f3b3db3, in ×2 + 9.92sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f908fb17b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.92sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f908f745620, in rclcpp::Rate::sleep() ×2 + 9.92sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f908f687d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.92sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f908f649087, in ×2 + 9.92sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f908f382390, in __cxa_throw ×2 + 9.92sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f908f36ca54, in std::terminate() ×2 + 9.92sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f908f3820d9, in ×2 + 9.92sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f908f36cff4, in ×2 + 9.92sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908f0ad8fe, in abort ×2 + 9.92sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908f0ca27d, in raise ×2 + 9.92sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f908f123b2c, in pthread_kill ×2 + 9.92sERRORmove_groupAborted (Signal sent by tkill() 7292 0) ×2 + 9.92sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.92sINFOvideo_server-21process has finished cleanly [pid 7373] ×2 + 9.93sERRORmove_group-9process has died [pid 7292, 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_qxn0g2xq --params-file /tmp/launch_params_9qrbzzes --params-file /tmp/launch_params_kf12twzw --params-file /tmp/launch_params_0xnzzcau --params-file /tmp/launch_params_xu96rkzq --params-file /tmp/launch_params_qxyu6k2i']. ×2 + 10.12sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.12sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 10.91sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7371] ×2 + 10.91sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.93sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7296] ×2 + 10.93sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7295] ×2 + 10.98sINFOwaypoint_manager_node-11process has finished cleanly [pid 7294] ×2 + 10.98sINFOexecute_objective_bridge-17process has finished cleanly [pid 7300] ×2 + 10.98sINFOui_teleop_bridge-18process has finished cleanly [pid 7301] ×2 + 10.99sINFOparameter_manager_node-10process has finished cleanly [pid 7293] ×2 + 11.03sINFOobjective_server_node[2026-09-18 17:51:58.006] [moveit_pro_license] [critical] ×2 + 11.03sINFOobjective_server_node************************************************* ×4 + 11.03sINFOobjective_server_node* MoveIt Pro License ×2 + 11.03sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.04sINFOcomponent_container_mt-16process has finished cleanly [pid 7299] ×2 + 11.20sINFOobjective_server_node_main-14process has finished cleanly [pid 7297] ×2 + 11.20sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.03sINFOweb_bridge-19process has finished cleanly [pid 7302] ×2 + 12.03sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.06sINFOcomponent_container_mt-15process has finished cleanly [pid 7298] ×2 + 12.54sINFOros2_control_node-1process has finished cleanly [pid 7241] ×2 | ||||
| ✓ 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 9.052840 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.052840 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350397 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350397 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162000 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162000 ms (missed cycles : 4).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774618 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774618 ms (missed cycles : 2).[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: 1789753872.98402548 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 + 3.28sINFOros2_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 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.81sINFOobjective_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 + 3.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789753873.57989812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.16sINFOros2_control_node[2026-09-18 17:51:13.877] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-18 17:51:13.877] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570698 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570698 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091817 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091817 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680597 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680597 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866742 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866742 ms (missed cycles : 2).[0m ×2 + 8.17sINFOros2_control_node[2026-09-18 17:51:17.884] [info] Received new action goal ×2 + 8.17sINFOros2_control_node[2026-09-18 17:51:17.884] [info] Accepted new action goal ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856426 ms (missed cycles : 5). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856426 ms (missed cycles : 5).[0m ×2 + 9.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478134 ms (missed cycles : 5). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478134 ms (missed cycles : 5).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.323593 ms (missed cycles : 4). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.323593 ms (missed cycles : 4).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158509 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158509 ms (missed cycles : 2).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418781 ms (missed cycles : 4). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418781 ms (missed cycles : 4).[0m ×2 + 13.75sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789753883.46974659 seconds ×3 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761598 ms (missed cycles : 3). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761598 ms (missed cycles : 3).[0m ×2 + 14.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.35sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.42sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789753884.13419247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.54sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 14.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.55sINFOros2_control_node[2026-09-18 17:51:24.268] [info] Received new action goal ×2 + 14.55sINFOros2_control_node[2026-09-18 17:51:24.268] [info] Accepted new action goal ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088967 ms (missed cycles : 2). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088967 ms (missed cycles : 2).[0m ×2 + 15.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.334667 ms (missed cycles : 5). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.334667 ms (missed cycles : 5).[0m ×2 + 16.46sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796975 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796975 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023081 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023081 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142969 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142969 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627119 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627119 ms (missed cycles : 5).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789753725.12118125 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.38sINFOros2_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 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.39sINFOros2_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 + 3.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789753725.78563809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_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: 1789753725.84579706 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881434 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881434 ms (missed cycles : 3).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.70sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789753726.44539499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789753728.58553672 seconds ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5).[0m ×2 + 7.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.41sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.48sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789753730.22597265 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 (4.98e-07 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.90sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Received new action goal ×2 + 7.90sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Accepted new action goal ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2).[0m ×2 + 8.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.8s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003086 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003086 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821036 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821036 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768979 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768979 ms (missed cycles : 5).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1789753906.99285102 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.16sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.16sINFOobjective_server_nodecaller: ×8 + 3.16sINFOobjective_server_nodetype: 0 ×8 + 3.16sINFOobjective_server_nodename: "" ×8 + 3.16sINFOobjective_server_nodeinstance_id: "" ×8 + 3.16sINFOobjective_server_node ×8 + 3.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789753907.59106565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7).[0m ×2 + 3.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789753908.77119756 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789753909.36527061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.99sINFOobjective_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 + 4.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789753909.36718297 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789753910.04367042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789753910.09480739 seconds ×3 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789753910.70062995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671049 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671049 ms (missed cycles : 3).[0m ×2 + 6.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789753911.30076933 seconds ×3 + 6.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011724 ms (missed cycles : 4). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011724 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 36 warnings · 695 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.11sINFOcomponent_container_mt[2026-09-18 17:47:19.258] [moveit_pro_license] [info] ×2 + 0.11sINFOcomponent_container_mt************************************************* ×4 + 0.11sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.11sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.20sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.20sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.29sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.30sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.30sWARNros2_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 + 0.30sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.30sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.30sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.30sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.30sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.30sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.30sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.30sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.30sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.30sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.30sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.30sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.30sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.30sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.30sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.30sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.30sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.30sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.30sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.30sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.30sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.30sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.30sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.30sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.30sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.30sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.30sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.30sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.49sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.49sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.50sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.50sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697972 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697972 ms (missed cycles : 2).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.77sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.77sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.81sINFOros2-5process has finished cleanly [pid 7245] ×2 + 0.92sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.92sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.95sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 0.95sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.95sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.95sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.95sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.99sINFOros2_control_node[2026-09-18 17:47:20.138] [info] Controller state will be published at 10 Hz. ×2 + 0.99sINFOros2_control_node[2026-09-18 17:47:20.139] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.22sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.22sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.28sINFOros2-7process has finished cleanly [pid 7247] ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 1.30sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 1.33sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.33sINFOros2_control_node[2026-09-18 17:47:20.485] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.33sINFOros2_control_node[2026-09-18 17:47:20.485] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.36sINFOros2_control_node[2026-09-18 17:47:20.508] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.36sINFOros2_control_node[2026-09-18 17:47:20.508] [info] Controller state will be published at 50 Hz. ×2 + 1.36sINFOros2_control_node[2026-09-18 17:47:20.513] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.68sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.68sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.68sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.68sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2-6process has finished cleanly [pid 7246] ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2).[0m ×2 + 1.77sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 1.77sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 1.80sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.80sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.80sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.83sINFOros2_control_node[2026-09-18 17:47:20.979] [info] Controller state will be published at 20 Hz. ×2 + 1.83sINFOros2_control_node[2026-09-18 17:47:20.979] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.02sWARNobjective_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 + 2.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.14sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.14sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.14sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.14sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.14sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 2.14sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 2.15sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.15sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.18sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.18sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.18sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.18sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.18sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.18sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.19sINFOros2-8process has finished cleanly [pid 7248] ×2 + 2.19sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.19sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.51sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.51sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.51sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.51sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.51sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 2.51sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 2.53sINFOros2-3process has finished cleanly [pid 7243] ×2 + 2.55sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.55sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.55sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.55sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.56sINFOforce_torque_sensor_broadcasterconfigure successful + 2.56sINFOros2_control_nodeconfigure successful[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.56sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.56sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.56sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.56sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.75sINFOobjective_server_nodecaller: ×14 + 2.75sINFOobjective_server_nodetype: 0 ×14 + 2.75sINFOobjective_server_nodename: "" ×14 + 2.75sINFOobjective_server_nodeinstance_id: "" ×14 + 2.75sINFOobjective_server_node ×14 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789753641.96526384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789753641.97552085 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.87sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.87sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.87sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.87sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.87sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 2.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 2.90sINFOros2-2process has finished cleanly [pid 7242] ×2 + 2.90sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.90sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.91sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.91sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.91sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.91sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.92sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.92sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2).[0m ×2 + 3.24sINFOros2-4process has finished cleanly [pid 7244] ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789753642.57032371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 4.62sWARNros2_control_nodeCamera render tick took 1.93 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 5.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.62sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 5.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 7.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.18sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 7.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.96sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.98sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 7.98sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768979 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768979 ms (missed cycles : 5).[0m ×2 + 0.44sINFOobjective_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 + 0.45sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Got request to cancel active goal. ×2 + 0.45sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Canceling active goal... ×2 + 0.45sERRORobjective_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: 1789753906.99285102 seconds ×3 + 0.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.00sINFOobjective_server_nodecaller: ×8 + 1.00sINFOobjective_server_nodetype: 0 ×8 + 1.00sINFOobjective_server_nodename: "" ×8 + 1.00sINFOobjective_server_nodeinstance_id: "" ×8 + 1.00sINFOobjective_server_node ×8 + 1.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789753907.59106565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7).[0m ×2 + 1.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789753908.77119756 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789753909.36527061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.83sINFOobjective_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 + 2.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789753909.36718297 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.50sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789753910.04367042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789753910.09480739 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789753910.70062995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671049 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671049 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789753911.30076933 seconds ×3 + 4.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011724 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011724 ms (missed cycles : 4).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267294 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267294 ms (missed cycles : 5).[0m ×2 + 6.81sWARNros2_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 | ||||
| ✓ 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 3.023081 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023081 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142969 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142969 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627119 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627119 ms (missed cycles : 5).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789753725.12118125 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.38sINFOros2_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 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.39sINFOros2_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 + 3.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789753725.78563809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_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: 1789753725.84579706 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881434 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881434 ms (missed cycles : 3).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.70sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789753726.44539499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789753728.58553672 seconds ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120706 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120706 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.20sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.48sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.49sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 2.50sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 2.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.53sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 2.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.64sINFOobjective_server_nodeFound path in 1 iterations (0.00298487 s). ×2 + 2.82sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.90sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Received new action goal ×2 + 2.90sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1789753667.99553728 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789753668.68767452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789753668.78780079 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789753669.41330600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (6.69e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2).[0m ×2 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 28 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254040 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254040 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290106 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290106 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1789753894.48444295 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.82sINFOobjective_server_nodetype: 0 ×6 + 3.82sINFOobjective_server_nodename: "" ×6 + 3.82sINFOobjective_server_nodeinstance_id: "" ×6 + 3.82sINFOobjective_server_node ×6 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789753895.11402822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789753895.18442440 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789753895.79588938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789753895.81938934 seconds ×3 + 5.04sWARNros2_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 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789753896.52797818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.41sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6).[0m ×2 + 5.42sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Received new action goal ×2 + 5.42sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000306 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000306 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-18 17:47:56.412] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 17:47:56.412] [info] Accepted new action goal ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2).[0m ×2 + 0.63sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789753679.37350559 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789753680.01365185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789753680.06389236 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789753680.71291304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.42sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4).[0m ×2 + 6.68sWARNros2_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 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 30 warnings · 525 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7246] ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2).[0m ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-09-18 17:47:20.979] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-18 17:47:20.979] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.33sWARNobjective_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 + 0.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 7248] ×2 + 0.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.83sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.83sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.85sINFOros2-3process has finished cleanly [pid 7243] ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.87sINFOforce_torque_sensor_broadcasterconfigure successful + 0.87sINFOros2_control_nodeconfigure successful[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.07sINFOobjective_server_nodecaller: ×14 + 1.07sINFOobjective_server_nodetype: 0 ×14 + 1.07sINFOobjective_server_nodename: "" ×14 + 1.07sINFOobjective_server_nodeinstance_id: "" ×14 + 1.07sINFOobjective_server_node ×14 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789753641.96526384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789753641.97552085 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 1.19sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 1.21sINFOros2-2process has finished cleanly [pid 7242] ×2 + 1.22sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.22sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.22sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.22sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.23sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.24sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2).[0m ×2 + 1.56sINFOros2-4process has finished cleanly [pid 7244] ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789753642.57032371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 1.93 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 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 6.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.08sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.30sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 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 2.290106 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290106 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789753894.48444295 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.73sINFOobjective_server_nodecaller: ×6 + 2.73sINFOobjective_server_nodetype: 0 ×6 + 2.73sINFOobjective_server_nodename: "" ×6 + 2.73sINFOobjective_server_nodeinstance_id: "" ×6 + 2.73sINFOobjective_server_node ×6 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789753895.11402822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789753895.18442440 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789753895.79588938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789753895.81938934 seconds ×3 + 3.96sWARNros2_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 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789753896.52797818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6).[0m ×2 + 4.33sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000306 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000306 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821036 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821036 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768979 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768979 ms (missed cycles : 5).[0m ×2 + 1.48sINFOobjective_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 + 1.48sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Got request to cancel active goal. ×2 + 1.48sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Canceling active goal... ×2 + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789753906.99285102 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.03sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.03sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.03sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.03sINFOobjective_server_nodecaller: ×8 + 2.03sINFOobjective_server_nodetype: 0 ×8 + 2.03sINFOobjective_server_nodename: "" ×8 + 2.03sINFOobjective_server_nodeinstance_id: "" ×8 + 2.03sINFOobjective_server_node ×8 + 2.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789753907.59106565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7).[0m ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789753908.77119756 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.86sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789753909.36527061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.86sINFOobjective_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 + 3.86sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789753909.36718297 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789753910.04367042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789753910.09480739 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789753910.70062995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671049 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671049 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789753911.30076933 seconds ×3 + 5.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011724 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011724 ms (missed cycles : 4).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267294 ms (missed cycles : 5). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267294 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2094 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2).[0m ×2 + 0.81sWARNros2_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 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789753850.85301709 seconds ×3 + 3.29sDEBUGobjective_server_node.rclcpp_actionReceived status for unknown goal. Ignoring... + 3.29sINFOobjective_server_node[0;m[32m[DEBUG] [2026-09-18 17:50:50.853] Received status for unknown goal. Ignoring...[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_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: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789753851.57566857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.1s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2).[0m ×2 + 0.08sWARNros2_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 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.11sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789753679.37350559 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789753680.01365185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789753680.06389236 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.75sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789753680.71291304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.87sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4).[0m ×2 + 6.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4).[0m ×2 + 2.07sWARNros2_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 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789753861.20585084 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789753862.66359949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3).[0m ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (7.14e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Accepted new action goal ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Canceling active goal... ×2 + 3.19sERRORobjective_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: 1789753691.09053349 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789753691.72482347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120706 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120706 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.20sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.48sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.49sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 2.50sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 2.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.53sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 2.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.64sINFOobjective_server_nodeFound path in 1 iterations (0.00298487 s). ×2 + 2.82sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.90sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Received new action goal ×2 + 2.90sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1789753667.99553728 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789753668.68767452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789753668.78780079 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789753669.41330600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (6.69e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2).[0m ×2 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120706 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120706 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.20sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.48sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 2.49sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 2.50sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 2.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.53sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 2.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.64sINFOobjective_server_nodeFound path in 1 iterations (0.00298487 s). ×2 + 2.82sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.90sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Received new action goal ×2 + 2.90sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Accepted new action goal ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1789753667.99553728 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789753668.68767452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789753668.78780079 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789753669.41330600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (6.69e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2).[0m ×2 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5).[0m ×2 + 1.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.15sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 1.60sINFOobjective_server_nodeFound path in 1 iterations (0.00298487 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.86sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Accepted new action goal ×2 + 1.90sINFOobjective_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 + 1.91sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Got request to cancel active goal. ×2 + 1.91sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Canceling active goal... ×2 + 1.92sERRORobjective_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: 1789753667.99553728 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789753668.68767452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789753668.78780079 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789753669.41330600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (6.69e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2).[0m ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5).[0m ×2 + 1.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.15sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 1.60sINFOobjective_server_nodeFound path in 1 iterations (0.00298487 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.86sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Accepted new action goal ×2 + 1.90sINFOobjective_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 + 1.91sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Got request to cancel active goal. ×2 + 1.91sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Canceling active goal... ×2 + 1.92sERRORobjective_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: 1789753667.99553728 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789753668.68767452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789753668.78780079 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789753669.41330600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (6.69e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2).[0m ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5).[0m ×2 + 1.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.15sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 1.60sINFOobjective_server_nodeFound path in 1 iterations (0.00298487 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.86sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Accepted new action goal ×2 + 1.90sINFOobjective_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 + 1.91sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Got request to cancel active goal. ×2 + 1.91sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Canceling active goal... ×2 + 1.92sERRORobjective_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: 1789753667.99553728 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789753668.68767452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789753668.78780079 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789753669.41330600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (6.69e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2).[0m ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417380 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.213593 ms (missed cycles : 5).[0m ×2 + 1.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.15sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 1.60sINFOobjective_server_nodeFound path in 1 iterations (0.00298487 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.86sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-09-18 17:47:47.933] [info] Accepted new action goal ×2 + 1.90sINFOobjective_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 + 1.91sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Got request to cancel active goal. ×2 + 1.91sINFOros2_control_node[2026-09-18 17:47:47.983] [info] Canceling active goal... ×2 + 1.92sERRORobjective_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: 1789753667.99553728 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665183 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789753668.68767452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789753668.78780079 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591526 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789753669.41330600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (6.69e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-18 17:47:49.607] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769683 ms (missed cycles : 2).[0m ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654793 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2).[0m ×2 + 0.08sWARNros2_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 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.11sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789753679.37350559 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789753680.01365185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789753680.06389236 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.75sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789753680.71291304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.87sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4).[0m ×2 + 6.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2).[0m ×2 + 0.08sWARNros2_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 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.11sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789753679.37350559 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789753680.01365185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789753680.06389236 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.75sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789753680.71291304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.87sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4).[0m ×2 + 6.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2).[0m ×2 + 0.08sWARNros2_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 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.11sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789753679.37350559 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789753680.01365185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789753680.06389236 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.75sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789753680.71291304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.87sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4).[0m ×2 + 6.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375176 ms (missed cycles : 2).[0m ×2 + 0.08sWARNros2_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 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.11sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-18 17:47:58.076] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247714 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.150959 ms (missed cycles : 5).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789753679.37350559 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789753680.01365185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789753680.06389236 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304650 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.75sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789753680.71291304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.87sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-18 17:48:00.837] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719464 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416270 ms (missed cycles : 4).[0m ×2 + 6.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710833 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3).[0m ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (7.14e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Accepted new action goal ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Canceling active goal... ×2 + 3.19sERRORobjective_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: 1789753691.09053349 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789753691.72482347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3).[0m ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (7.14e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Accepted new action goal ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Canceling active goal... ×2 + 3.19sERRORobjective_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: 1789753691.09053349 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789753691.72482347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3).[0m ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (7.14e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Accepted new action goal ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Canceling active goal... ×2 + 3.19sERRORobjective_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: 1789753691.09053349 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789753691.72482347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3).[0m ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (7.14e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Accepted new action goal ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Canceling active goal... ×2 + 3.19sERRORobjective_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: 1789753691.09053349 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789753691.72482347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3).[0m ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (7.14e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Accepted new action goal ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Canceling active goal... ×2 + 3.19sERRORobjective_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: 1789753691.09053349 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789753691.72482347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3).[0m ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (7.14e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Accepted new action goal ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Canceling active goal... ×2 + 3.19sERRORobjective_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: 1789753691.09053349 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789753691.72482347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3).[0m ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (7.14e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Accepted new action goal ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Canceling active goal... ×2 + 3.19sERRORobjective_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: 1789753691.09053349 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789753691.72482347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3).[0m ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (7.14e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Accepted new action goal ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Canceling active goal... ×2 + 3.19sERRORobjective_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: 1789753691.09053349 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789753691.72482347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3).[0m ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (7.14e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Accepted new action goal ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Canceling active goal... ×2 + 3.19sERRORobjective_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: 1789753691.09053349 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789753691.72482347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803064 ms (missed cycles : 3).[0m ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (7.14e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135718 ms (missed cycles : 5).[0m ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-09-18 17:48:08.909] [info] Accepted new action goal ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127339 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 17:48:11.083] [info] Canceling active goal... ×2 + 3.19sERRORobjective_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: 1789753691.09053349 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944656 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789753691.72482347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 17:48:11.954] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398971 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557174 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836989 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836989 ms (missed cycles : 3).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×4 + 0.18sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.30sINFOobjective_server_nodeFound path in 1 iterations (0.00328029 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOros2_control_node[2026-09-18 17:48:30.403] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-18 17:48:30.403] [info] Accepted new action goal ×2 + 0.96sINFOros2_control_node[2026-09-18 17:48:30.835] [info] Received new action goal ×2 + 0.96sINFOros2_control_node[2026-09-18 17:48:30.835] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855367 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855367 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233576 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233576 ms (missed cycles : 2).[0m ×2 + 2.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_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 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.13sERRORobjective_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: 1789753713.00076127 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804809 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804809 ms (missed cycles : 2).[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789753713.81563616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.14sINFOros2_control_node[2026-09-18 17:48:34.010] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-18 17:48:34.010] [info] Accepted new action goal ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085299 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085299 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105075 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105075 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671213 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671213 ms (missed cycles : 3).[0m ×2 + 6.68sINFOros2_control_node[2026-09-18 17:48:36.552] [info] Received new action goal ×2 + 6.68sINFOros2_control_node[2026-09-18 17:48:36.552] [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 3.023081 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023081 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142969 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142969 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627119 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627119 ms (missed cycles : 5).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789753725.12118125 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.38sINFOros2_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 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.39sINFOros2_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 + 3.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789753725.78563809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_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: 1789753725.84579706 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881434 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881434 ms (missed cycles : 3).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.70sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789753726.44539499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789753728.58553672 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789753726.44539499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789753728.58553672 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789753730.22597265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789753726.44539499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789753728.58553672 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789753730.22597265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789753726.44539499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789753728.58553672 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789753730.22597265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789753726.44539499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789753728.58553672 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789753730.22597265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789753726.44539499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789753728.58553672 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789753730.22597265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789753726.44539499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789753728.58553672 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789753730.22597265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789753726.44539499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-18 17:48:46.579] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338494 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554128 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789753728.58553672 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979239 ms (missed cycles : 5).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209404 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789753730.22597265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-18 17:48:50.643] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091267 ms (missed cycles : 2).[0m ×2 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132048 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 22 warnings · 84 info |
+ 0.00sWARNros2_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 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058271 ms (missed cycles : 5). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058271 ms (missed cycles : 5).[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101308 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101308 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613705 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613705 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789753784.22879696 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789753784.83418775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.578058 ms (missed cycles : 8). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.578058 ms (missed cycles : 8).[0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.83sINFOros2_control_node[2026-09-18 17:49:45.008] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-18 17:49:45.008] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992001 ms (missed cycles : 2). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992001 ms (missed cycles : 2).[0m ×2 + 5.03sWARNros2_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 + 5.10sINFOobjective_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 + 5.11sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796260 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796260 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 · 2094 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2).[0m ×2 + 0.81sWARNros2_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 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789753850.85301709 seconds ×3 + 3.29sDEBUGobjective_server_node.rclcpp_actionReceived status for unknown goal. Ignoring... + 3.29sINFOobjective_server_node[0;m[32m[DEBUG] [2026-09-18 17:50:50.853] Received status for unknown goal. Ignoring...[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_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: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789753851.57566857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2094 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2).[0m ×2 + 0.81sWARNros2_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 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789753850.85301709 seconds ×3 + 3.29sDEBUGobjective_server_node.rclcpp_actionReceived status for unknown goal. Ignoring... + 3.29sINFOobjective_server_node[0;m[32m[DEBUG] [2026-09-18 17:50:50.853] Received status for unknown goal. Ignoring...[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_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: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789753851.57566857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2094 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2).[0m ×2 + 0.81sWARNros2_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 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789753850.85301709 seconds ×3 + 3.29sDEBUGobjective_server_node.rclcpp_actionReceived status for unknown goal. Ignoring... + 3.29sINFOobjective_server_node[0;m[32m[DEBUG] [2026-09-18 17:50:50.853] Received status for unknown goal. Ignoring...[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_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: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789753851.57566857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2094 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487258 ms (missed cycles : 2).[0m ×2 + 0.81sWARNros2_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 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936487 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812861 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789753850.85301709 seconds ×3 + 3.29sDEBUGobjective_server_node.rclcpp_actionReceived status for unknown goal. Ignoring... + 3.29sINFOobjective_server_node[0;m[32m[DEBUG] [2026-09-18 17:50:50.853] Received status for unknown goal. Ignoring...[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745007 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_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: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789753851.57566857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-18 17:50:51.769] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650479 ms (missed cycles : 3).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754801 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4).[0m ×2 + 2.07sWARNros2_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 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789753861.20585084 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789753862.66359949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4).[0m ×2 + 2.07sWARNros2_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 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789753861.20585084 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789753862.66359949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4).[0m ×2 + 2.07sWARNros2_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 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789753861.20585084 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789753862.66359949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4).[0m ×2 + 2.07sWARNros2_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 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789753861.20585084 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789753862.66359949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4).[0m ×2 + 2.07sWARNros2_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 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789753861.20585084 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789753862.66359949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4).[0m ×2 + 2.07sWARNros2_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 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789753861.20585084 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789753862.66359949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4).[0m ×2 + 2.07sWARNros2_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 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789753861.20585084 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789753862.66359949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173223 ms (missed cycles : 5).[0m ×2 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-18 17:50:59.909] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618911 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374949 ms (missed cycles : 4).[0m ×2 + 2.07sWARNros2_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 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789753861.20585084 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740981 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789753862.66359949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-18 17:51:02.847] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.847558 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364115 ms (missed cycles : 5).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172123 ms (missed cycles : 4).[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 9.052840 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.052840 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350397 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350397 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162000 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162000 ms (missed cycles : 4).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774618 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774618 ms (missed cycles : 2).[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: 1789753872.98402548 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 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.81sINFOobjective_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 + 3.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789753873.57989812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.16sINFOros2_control_node[2026-09-18 17:51:13.877] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-18 17:51:13.877] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570698 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570698 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091817 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091817 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680597 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680597 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.323593 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.323593 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158509 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158509 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418781 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418781 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789753883.46974659 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761598 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761598 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789753884.13419247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.69sINFOros2_control_node[2026-09-18 17:51:24.268] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-18 17:51:24.268] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088967 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088967 ms (missed cycles : 2).[0m ×2 + 4.60sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.334667 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.334667 ms (missed cycles : 5).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796975 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796975 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254040 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254040 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290106 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290106 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1789753894.48444295 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.82sINFOobjective_server_nodetype: 0 ×6 + 3.82sINFOobjective_server_nodename: "" ×6 + 3.82sINFOobjective_server_nodeinstance_id: "" ×6 + 3.82sINFOobjective_server_node ×6 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789753895.11402822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789753895.18442440 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789753895.79588938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789753895.81938934 seconds ×3 + 5.04sWARNros2_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 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789753896.52797818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.41sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6).[0m ×2 + 5.42sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Received new action goal ×2 + 5.42sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254040 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254040 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290106 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290106 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1789753894.48444295 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.82sINFOobjective_server_nodetype: 0 ×6 + 3.82sINFOobjective_server_nodename: "" ×6 + 3.82sINFOobjective_server_nodeinstance_id: "" ×6 + 3.82sINFOobjective_server_node ×6 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789753895.11402822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789753895.18442440 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789753895.79588938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789753895.81938934 seconds ×3 + 5.04sWARNros2_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 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789753896.52797818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.41sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6).[0m ×2 + 5.42sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Received new action goal ×2 + 5.42sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254040 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254040 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290106 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290106 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1789753894.48444295 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.82sINFOobjective_server_nodetype: 0 ×6 + 3.82sINFOobjective_server_nodename: "" ×6 + 3.82sINFOobjective_server_nodeinstance_id: "" ×6 + 3.82sINFOobjective_server_node ×6 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789753895.11402822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789753895.18442440 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789753895.79588938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789753895.81938934 seconds ×3 + 5.04sWARNros2_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 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789753896.52797818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.41sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6).[0m ×2 + 5.42sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Received new action goal ×2 + 5.42sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254040 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254040 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290106 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290106 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1789753894.48444295 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.81sINFOobjective_server_nodecaller: ×6 + 3.82sINFOobjective_server_nodetype: 0 ×6 + 3.82sINFOobjective_server_nodename: "" ×6 + 3.82sINFOobjective_server_nodeinstance_id: "" ×6 + 3.82sINFOobjective_server_node ×6 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789753895.11402822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789753895.18442440 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789753895.79588938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789753895.81938934 seconds ×3 + 5.04sWARNros2_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 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789753896.52797818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.41sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6).[0m ×2 + 5.42sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Received new action goal ×2 + 5.42sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_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 + 0.97sERRORobjective_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: 1789753894.48444295 seconds ×3 + 0.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.54sINFOobjective_server_nodecaller: ×6 + 1.54sINFOobjective_server_nodetype: 0 ×6 + 1.54sINFOobjective_server_nodename: "" ×6 + 1.54sINFOobjective_server_nodeinstance_id: "" ×6 + 1.54sINFOobjective_server_node ×6 + 1.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789753895.11402822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789753895.18442440 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789753895.79588938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_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 + 2.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789753895.81938934 seconds ×3 + 2.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789753896.52797818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6).[0m ×2 + 3.14sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000306 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000306 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_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 + 0.97sERRORobjective_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: 1789753894.48444295 seconds ×3 + 0.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.54sINFOobjective_server_nodecaller: ×6 + 1.54sINFOobjective_server_nodetype: 0 ×6 + 1.54sINFOobjective_server_nodename: "" ×6 + 1.54sINFOobjective_server_nodeinstance_id: "" ×6 + 1.54sINFOobjective_server_node ×6 + 1.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789753895.11402822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789753895.18442440 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789753895.79588938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_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 + 2.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789753895.81938934 seconds ×3 + 2.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789753896.52797818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6).[0m ×2 + 3.14sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000306 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000306 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969504 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_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 + 0.97sERRORobjective_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: 1789753894.48444295 seconds ×3 + 0.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610258 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.54sINFOobjective_server_nodecaller: ×6 + 1.54sINFOobjective_server_nodetype: 0 ×6 + 1.54sINFOobjective_server_nodename: "" ×6 + 1.54sINFOobjective_server_nodeinstance_id: "" ×6 + 1.54sINFOobjective_server_node ×6 + 1.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789753895.11402822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789753895.18442440 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818763 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789753895.79588938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_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 + 2.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789753895.81938934 seconds ×3 + 2.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789753896.52797818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.471041 ms (missed cycles : 6).[0m ×2 + 3.14sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-09-18 17:51:36.651] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422681 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000306 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000306 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003086 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003086 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821036 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821036 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768979 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768979 ms (missed cycles : 5).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1789753906.99285102 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789753907.59106565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7).[0m ×2 + 3.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789753908.77119756 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789753909.36527061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.99sINFOobjective_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 + 4.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789753909.36718297 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789753910.04367042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789753910.09480739 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003086 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003086 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821036 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821036 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768979 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768979 ms (missed cycles : 5).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-18 17:51:46.988] [info] Canceling active goal... ×2 + 2.62sERRORobjective_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: 1789753906.99285102 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.16sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.16sINFOobjective_server_nodecaller: ×6 + 3.16sINFOobjective_server_nodetype: 0 ×6 + 3.16sINFOobjective_server_nodename: "" ×6 + 3.16sINFOobjective_server_nodeinstance_id: "" ×6 + 3.16sINFOobjective_server_node ×6 + 3.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789753907.59106565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.075418 ms (missed cycles : 7).[0m ×2 + 3.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278273 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789753908.77119756 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789753909.36527061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.99sINFOobjective_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 + 4.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789753909.36718297 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083083 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789753910.04367042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789753910.09480739 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.0s | 42 warnings · 751 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-18-17-47-14-957931-b69590dd9315-7193 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170452 ms (missed cycles : 4). + 0.88sINFOros2_control_node-1process started with pid [7241] ×2 + 0.88sINFOmove_group-9process started with pid [7292] ×2 + 0.88sINFOparameter_manager_node-10process started with pid [7293] ×2 + 0.88sINFOwaypoint_manager_node-11process started with pid [7294] ×2 + 0.88sINFOmove_joint_resampler_node-12process started with pid [7295] ×2 + 0.88sINFOmove_end_effector_resampler_node-13process started with pid [7296] ×2 + 0.88sINFOobjective_server_node_main-14process started with pid [7297] ×2 + 0.88sINFOcomponent_container_mt-15process started with pid [7298] ×2 + 0.88sINFOcomponent_container_mt-16process started with pid [7299] ×2 + 0.88sINFOexecute_objective_bridge-17process started with pid [7300] ×2 + 0.88sINFOui_teleop_bridge-18process started with pid [7301] ×2 + 0.88sINFOweb_bridge-19process started with pid [7302] ×2 + 0.88sINFOtf2_web_republisher_node-20process started with pid [7371] ×2 + 0.88sINFOvideo_server-21process started with pid [7373] ×2 + 0.88sINFOweb_bridge_auth_proxy-22process started with pid [7374] ×2 + 0.88sINFOweb_video_auth_proxy-23process started with pid [7376] ×2 + 0.88sINFOros2-2process started with pid [7242] ×2 + 0.88sINFOros2-3process started with pid [7243] ×2 + 0.88sINFOros2-4process started with pid [7244] ×2 + 0.88sINFOros2-5process started with pid [7245] ×2 + 0.90sINFOros2-6process started with pid [7246] ×2 + 0.90sINFOros2-7process started with pid [7247] ×2 + 0.90sINFOros2-8process started with pid [7248] ×2 + 0.91sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.91sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.91sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.91sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.91sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.91sWARNros2_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 + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170452 ms (missed cycles : 4).[0m ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.92sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.16sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.17sINFOvideo_server2026/09/18 17:47:16 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.17sINFOvideo_server2026/09/18 17:47:16 INF configuration loaded from /tmp/moveit-webrtc-21wde7lx/mediamtx.yml ×2 + 1.18sINFOvideo_server2026/09/18 17:47:16 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.18sINFOvideo_server2026/09/18 17:47:16 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.51sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.51sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.90sINFOmove_group[2026-09-18 17:47:17.239] [moveit_pro_license] [info] ×2 + 1.90sINFOmove_group************************************************* ×4 + 1.90sINFOmove_group* MoveIt Pro License ×2 + 1.90sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.04sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.04sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.04sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.04sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.06sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.06sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798886 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798886 ms (missed cycles : 2).[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.32sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.32sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.36sINFOwaypoint_manager_node[2026-09-18 17:47:17.694] [moveit_pro_license] [info] ×2 + 2.36sINFOwaypoint_manager_node************************************************* ×4 + 2.36sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.36sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.41sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.47sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.49sINFOmove_group ×4 + 2.49sINFOmove_group[92mYou can start planning now![0m ×2 + 3.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.51sINFOobjective_server_node[2026-09-18 17:47:18.846] [moveit_pro_license] [info] ×2 + 3.51sINFOobjective_server_node************************************************* ×4 + 3.51sINFOobjective_server_node* MoveIt Pro License ×2 + 3.51sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.63sINFOobjective_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 + 3.63sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.65sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.92sINFOcomponent_container_mt[2026-09-18 17:47:19.258] [moveit_pro_license] [info] ×2 + 3.92sINFOcomponent_container_mt************************************************* ×4 + 3.92sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.92sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.02sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.02sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.11sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.11sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.12sWARNros2_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 + 4.12sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.12sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.12sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.12sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.12sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.12sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.12sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.12sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.12sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.12sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.12sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.12sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.12sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.12sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.12sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.12sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.12sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.12sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.12sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.12sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.12sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.12sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.27sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 4.27sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 4.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.30sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.30sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.30sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.30sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.31sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.31sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.31sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.31sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.31sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.31sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.32sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.32sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.32sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697972 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697972 ms (missed cycles : 2).[0m ×2 + 4.59sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.59sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.59sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.59sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.63sINFOros2-5process has finished cleanly [pid 7245] ×2 + 4.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 4.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 4.77sINFOros2_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 + 4.77sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.77sWARNros2_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 + 4.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.80sINFOros2_control_node[2026-09-18 17:47:20.138] [info] Controller state will be published at 10 Hz. ×2 + 4.80sINFOros2_control_node[2026-09-18 17:47:20.139] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.10sINFOros2-7process has finished cleanly [pid 7247] ×2 + 5.11sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 5.11sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 5.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.15sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.15sINFOros2_control_node[2026-09-18 17:47:20.485] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.15sINFOros2_control_node[2026-09-18 17:47:20.485] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.17sINFOros2_control_node[2026-09-18 17:47:20.508] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.17sINFOros2_control_node[2026-09-18 17:47:20.508] [info] Controller state will be published at 50 Hz. ×2 + 5.18sINFOros2_control_node[2026-09-18 17:47:20.513] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.50sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.50sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.50sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.50sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.54sINFOros2-6process has finished cleanly [pid 7246] ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2).[0m ×2 + 5.58sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 5.58sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 5.62sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.62sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.62sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.62sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.64sINFOros2_control_node[2026-09-18 17:47:20.979] [info] Controller state will be published at 20 Hz. ×2 + 5.64sINFOros2_control_node[2026-09-18 17:47:20.979] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.83sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.90sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.96sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.96sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.96sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.96sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.96sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 5.96sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 5.97sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.97sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.00sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.00sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.00sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.00sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.00sINFOros2-8process has finished cleanly [pid 7248] ×2 + 6.01sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.01sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.32sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.32sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.32sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.32sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.33sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 6.33sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 6.35sINFOros2-3process has finished cleanly [pid 7243] ×2 + 6.37sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.37sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.37sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.37sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.37sINFOforce_torque_sensor_broadcasterconfigure successful + 6.37sINFOros2_control_nodeconfigure successful[0m ×2 + 6.38sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.38sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.38sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.38sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.38sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.57sINFOobjective_server_nodecaller: ×10 + 6.57sINFOobjective_server_nodetype: 0 ×10 + 6.57sINFOobjective_server_nodename: "" ×10 + 6.57sINFOobjective_server_nodeinstance_id: "" ×10 + 6.57sINFOobjective_server_node ×10 + 6.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789753641.96526384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789753641.97552085 seconds ×3 + 6.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.68sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.68sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.69sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.69sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.69sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 6.69sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 6.71sINFOros2-2process has finished cleanly [pid 7242] ×2 + 6.72sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.72sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.72sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.72sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.72sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.72sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.73sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.73sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.74sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.74sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2).[0m ×2 + 7.06sINFOros2-4process has finished cleanly [pid 7244] ×2 + 7.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.18sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789753642.57032371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 8.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 8.44sWARNros2_control_nodeCamera render tick took 1.93 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 + 8.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 9.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 9.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 10.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 420 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789753641.96526384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789753641.97552085 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.12sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.12sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.12sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.12sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.12sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.12sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.15sINFOros2-2process has finished cleanly [pid 7242] ×2 + 0.15sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.15sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.16sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.16sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.17sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.17sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2).[0m ×2 + 0.49sINFOros2-4process has finished cleanly [pid 7244] ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789753642.57032371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 1.87sWARNros2_control_nodeCamera render tick took 1.93 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.23sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 7.57sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 502 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.06sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.06sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.06sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.07sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.10sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.10sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.10sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 7248] ×2 + 0.11sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.43sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.43sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.45sINFOros2-3process has finished cleanly [pid 7243] ×2 + 0.47sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.47sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.47sINFOforce_torque_sensor_broadcasterconfigure successful + 0.47sINFOros2_control_nodeconfigure successful[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.48sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789753641.96526384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789753641.97552085 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.81sINFOros2-2process has finished cleanly [pid 7242] ×2 + 0.82sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.83sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.84sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2-4process has finished cleanly [pid 7244] ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789753642.57032371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 2.53sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 3.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.88sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 5.88sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.90sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 5.90sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-09-18 17:47:29.659] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-09-18 17:47:29.659] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 181 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/2026-09-18-17-47-14-957931-b69590dd9315-7193 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170452 ms (missed cycles : 4). + 0.88sINFOros2_control_node-1process started with pid [7241] ×2 + 0.88sINFOmove_group-9process started with pid [7292] ×2 + 0.88sINFOparameter_manager_node-10process started with pid [7293] ×2 + 0.88sINFOwaypoint_manager_node-11process started with pid [7294] ×2 + 0.88sINFOmove_joint_resampler_node-12process started with pid [7295] ×2 + 0.88sINFOmove_end_effector_resampler_node-13process started with pid [7296] ×2 + 0.88sINFOobjective_server_node_main-14process started with pid [7297] ×2 + 0.88sINFOcomponent_container_mt-15process started with pid [7298] ×2 + 0.88sINFOcomponent_container_mt-16process started with pid [7299] ×2 + 0.88sINFOexecute_objective_bridge-17process started with pid [7300] ×2 + 0.88sINFOui_teleop_bridge-18process started with pid [7301] ×2 + 0.88sINFOweb_bridge-19process started with pid [7302] ×2 + 0.88sINFOtf2_web_republisher_node-20process started with pid [7371] ×2 + 0.88sINFOvideo_server-21process started with pid [7373] ×2 + 0.88sINFOweb_bridge_auth_proxy-22process started with pid [7374] ×2 + 0.88sINFOweb_video_auth_proxy-23process started with pid [7376] ×2 + 0.88sINFOros2-2process started with pid [7242] ×2 + 0.88sINFOros2-3process started with pid [7243] ×2 + 0.88sINFOros2-4process started with pid [7244] ×2 + 0.88sINFOros2-5process started with pid [7245] ×2 + 0.90sINFOros2-6process started with pid [7246] ×2 + 0.90sINFOros2-7process started with pid [7247] ×2 + 0.90sINFOros2-8process started with pid [7248] ×2 + 0.91sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.91sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.91sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.91sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.91sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.91sWARNros2_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 + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170452 ms (missed cycles : 4).[0m ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.92sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.16sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.17sINFOvideo_server2026/09/18 17:47:16 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.17sINFOvideo_server2026/09/18 17:47:16 INF configuration loaded from /tmp/moveit-webrtc-21wde7lx/mediamtx.yml ×2 + 1.18sINFOvideo_server2026/09/18 17:47:16 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.18sINFOvideo_server2026/09/18 17:47:16 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.51sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.51sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.90sINFOmove_group[2026-09-18 17:47:17.239] [moveit_pro_license] [info] ×2 + 1.90sINFOmove_group************************************************* ×4 + 1.90sINFOmove_group* MoveIt Pro License ×2 + 1.90sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.04sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.04sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.04sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.04sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.06sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.06sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798886 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798886 ms (missed cycles : 2).[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.32sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.32sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.36sINFOwaypoint_manager_node[2026-09-18 17:47:17.694] [moveit_pro_license] [info] ×2 + 2.36sINFOwaypoint_manager_node************************************************* ×4 + 2.36sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.36sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.41sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.47sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.49sINFOmove_group ×4 + 2.49sINFOmove_group[92mYou can start planning now![0m ×2 + 3.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.51sINFOobjective_server_node[2026-09-18 17:47:18.846] [moveit_pro_license] [info] ×2 + 3.51sINFOobjective_server_node************************************************* ×4 + 3.51sINFOobjective_server_node* MoveIt Pro License ×2 + 3.51sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.63sINFOobjective_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 + 3.63sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.65sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.65sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 525 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7246] ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2).[0m ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-09-18 17:47:20.979] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-18 17:47:20.979] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.33sWARNobjective_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 + 0.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 7248] ×2 + 0.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.83sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.83sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.85sINFOros2-3process has finished cleanly [pid 7243] ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.87sINFOforce_torque_sensor_broadcasterconfigure successful + 0.87sINFOros2_control_nodeconfigure successful[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.07sINFOobjective_server_nodecaller: ×14 + 1.07sINFOobjective_server_nodetype: 0 ×14 + 1.07sINFOobjective_server_nodename: "" ×14 + 1.07sINFOobjective_server_nodeinstance_id: "" ×14 + 1.07sINFOobjective_server_node ×14 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789753641.96526384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789753641.97552085 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 1.19sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 1.21sINFOros2-2process has finished cleanly [pid 7242] ×2 + 1.22sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.22sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.22sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.22sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.23sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.24sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2).[0m ×2 + 1.56sINFOros2-4process has finished cleanly [pid 7244] ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789753642.57032371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 1.93 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 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 6.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.08sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.30sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 525 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7246] ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2).[0m ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-09-18 17:47:20.979] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-18 17:47:20.979] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.33sWARNobjective_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 + 0.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 7248] ×2 + 0.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.83sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.83sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.85sINFOros2-3process has finished cleanly [pid 7243] ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.87sINFOforce_torque_sensor_broadcasterconfigure successful + 0.87sINFOros2_control_nodeconfigure successful[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.07sINFOobjective_server_nodecaller: ×14 + 1.07sINFOobjective_server_nodetype: 0 ×14 + 1.07sINFOobjective_server_nodename: "" ×14 + 1.07sINFOobjective_server_nodeinstance_id: "" ×14 + 1.07sINFOobjective_server_node ×14 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789753641.96526384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789753641.97552085 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 1.19sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 1.21sINFOros2-2process has finished cleanly [pid 7242] ×2 + 1.22sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.22sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.22sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.22sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.23sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.24sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2).[0m ×2 + 1.56sINFOros2-4process has finished cleanly [pid 7244] ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789753642.57032371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 1.93 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 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 6.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.08sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.30sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 525 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7246] ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150889 ms (missed cycles : 2).[0m ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-09-18 17:47:20.979] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-18 17:47:20.979] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.33sWARNobjective_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 + 0.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 7248] ×2 + 0.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.83sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.83sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.85sINFOros2-3process has finished cleanly [pid 7243] ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.87sINFOforce_torque_sensor_broadcasterconfigure successful + 0.87sINFOros2_control_nodeconfigure successful[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.07sINFOobjective_server_nodecaller: ×14 + 1.07sINFOobjective_server_nodetype: 0 ×14 + 1.07sINFOobjective_server_nodename: "" ×14 + 1.07sINFOobjective_server_nodeinstance_id: "" ×14 + 1.07sINFOobjective_server_node ×14 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789753641.96526384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789753641.97552085 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 1.19sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 1.21sINFOros2-2process has finished cleanly [pid 7242] ×2 + 1.22sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.22sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.22sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.22sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.23sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.23sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.24sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2).[0m ×2 + 1.56sINFOros2-4process has finished cleanly [pid 7244] ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789753642.57032371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 2.94sWARNros2_control_nodeCamera render tick took 1.93 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 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 6.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.08sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.30sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 502 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.06sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.06sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.06sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.07sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.10sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.10sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.10sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 7248] ×2 + 0.11sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.43sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.43sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.45sINFOros2-3process has finished cleanly [pid 7243] ×2 + 0.47sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.47sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.47sINFOforce_torque_sensor_broadcasterconfigure successful + 0.47sINFOros2_control_nodeconfigure successful[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.48sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789753641.96526384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789753641.97552085 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.81sINFOros2-2process has finished cleanly [pid 7242] ×2 + 0.82sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.83sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.84sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2-4process has finished cleanly [pid 7244] ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789753642.57032371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 2.53sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 3.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.88sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 5.88sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.90sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 5.90sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 412 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789753641.96526384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789753641.97552085 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.12sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.12sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.12sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.12sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.12sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj + 0.12sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ovjo9022 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_b_ib6i8s --params-file /tmp/launch_params_nkka8wuj [0m ×2 + 0.15sINFOros2-2process has finished cleanly [pid 7242] ×2 + 0.15sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.15sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.16sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.16sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.17sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.17sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780048 ms (missed cycles : 2).[0m ×2 + 0.49sINFOros2-4process has finished cleanly [pid 7244] ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789753642.57032371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 1.87sWARNros2_control_nodeCamera render tick took 1.93 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 3.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.23sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-09-18 17:47:29.659] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-09-18 17:47:29.659] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196316 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196316 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412094 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789753643.48047566 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.33sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789753644.10293365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789753644.16308618 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783784 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789753644.82271361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789753644.84283686 seconds ×3 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789753645.43906093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789753645.58964086 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637175 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789753646.32101226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789753646.38114858 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854494 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789753646.98502159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.202e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-18 17:47:27.134] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133144 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.293063 ms (missed cycles : 9).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||