119
Total objective tests
0
Objectives passed
35
Objectives failed
84
Objectives skipped
1.8s
Avg test time
0%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 fail55 skip
| ! error | Take Wrist Camera Snapshot | wrist_snap.xml | 0.2s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Pick April Tag Labeled Object | apriltag_pick_object.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Close Gripper | close_gripper.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Cycle Between Waypoints | cycle_between_waypoints.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Look at Table | look_at_table.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | ML Find Objects on Table | ml_find_objects_on_table.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Move Flasks to Burners | move_flasks_to_burners.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Push Button | move_with_velocity_and_force.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Open Gripper | open_gripper.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Plan and Save Trajectory | plan_and_save_trajectory.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Playback Square Trajectory | playback_square_trajectory.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Save Robot Joint State | save_robot_joint_state.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Stationary Admittance | stationary_admittance.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Take Scene Camera Snapshot | take_snap.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Vector and String Example | vector_and_string_example.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | Visualize Grasp Link | visualize_grasp_link.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Pick 1 Pill Bottle with ML | pick_1_pill_bottle_with_ml.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 fail8 skip
| ! error | — | clear_snapshot.xml | 61.4s | 59 errors · 30 warnings · 288 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/2026-05-29-20-19-15-261982-bbd22c564faf-22493 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.66sINFOros2_control_node-1process started with pid [22498] + 1.66sINFOmove_group-9process started with pid [22517] + 1.66sINFOparameter_manager_node-10process started with pid [22520] + 1.66sINFOwaypoint_manager_node-11process started with pid [22559] + 1.66sINFOmove_joint_resampler_node-12process started with pid [22561] + 1.66sINFOmove_end_effector_resampler_node-13process started with pid [22563] + 1.66sINFOobjective_server_node_main-14process started with pid [22565] + 1.66sINFOcomponent_container_mt-15process started with pid [22567] + 1.66sINFOexecute_objective_bridge-16process started with pid [22569] + 1.66sINFOui_teleop_bridge-17process started with pid [22571] + 1.66sINFOrosapi_node-18process started with pid [22573] + 1.66sINFOrosbridge_websocket-19process started with pid [22617] + 1.66sINFOtf2_web_republisher_node-20process started with pid [22619] + 1.66sINFOweb_video_server-21process started with pid [22623] + 1.67sINFOparameter_manager_node[INFO] [2026-05-29 20:19:17.508] Started parameter manager node. + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [22500] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [22502] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [22504] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [22506] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [22508] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [22510] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [22514] + 1.68sWARNros2_control_node[33m[WARN] [1780085957.611695623] [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.68sINFOros2_control_node[0m[INFO] [1780085957.612378506] Loading hardware 'ur_mujoco_control' [0m + 1.74sINFOweb_video_server[0m[INFO] [1780085957.694603103] Loading streamer plugin: web_video_server/stream/h264[0m + 1.94sINFOweb_video_server[0m[INFO] [1780085957.888797690] Loading streamer plugin: web_video_server/stream/mjpeg[0m + 1.94sINFOweb_video_server[0m[INFO] [1780085957.890221896] Loading streamer plugin: web_video_server/stream/png[0m + 1.94sINFOweb_video_server[0m[INFO] [1780085957.890303858] Loading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.94sINFOweb_video_server[0m[INFO] [1780085957.890359849] Loading streamer plugin: web_video_server/stream/vp8[0m + 1.94sINFOweb_video_server[0m[INFO] [1780085957.890408230] Loading streamer plugin: web_video_server/stream/vp9[0m + 1.94sINFOweb_video_server[0m[INFO] [1780085957.890454300] Loading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.94sINFOweb_video_server[0m[INFO] [1780085957.892314335] Loading streamer plugin: web_video_server/snapshot/png[0m + 1.94sINFOweb_video_server[0m[INFO] [1780085957.894199860] Loading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.94sINFOweb_video_server[0m[INFO] [1780085957.894409004] Waiting For connections on 0.0.0.0:3202[0m + 2.32sINFOrosbridge_websocketregistered capabilities (classes): ×2 + 2.32sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> ×2 + 2.33sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> ×2 + 2.33sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> ×2 + 2.33sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> ×2 + 2.33sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> ×2 + 2.33sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> ×2 + 2.33sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> ×2 + 2.33sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> ×2 + 2.33sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> ×2 + 2.33sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> ×2 + 2.33sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> ×2 + 2.33sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> ×2 + 2.33sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_action.UnadvertiseAction'> ×2 + 2.54sWARNrosbridge_websocket[33m[WARN] [1780085958.486839926] The 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds.[0m + 2.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[INFO] [1780085958.517548336] waiting for service /controller_manager/list_controllers to become available... + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[INFO] [1780085958.554549944] waiting for service /controller_manager/list_controllers to become available... + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[INFO] [1780085958.589357919] waiting for service /controller_manager/list_controllers to become available... + 2.68sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 2.68sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 2.68sINFOros2_control_node[0m[INFO] [1780085958.627581350] Initialize hardware 'ur_mujoco_control' [0m + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[INFO] [1780085958.785344519] waiting for service /controller_manager/list_controllers to become available... + 2.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[INFO] [1780085958.787204874] waiting for service /controller_manager/list_controllers to become available... + 2.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[INFO] [1780085958.793383969] waiting for service /controller_manager/list_controllers to become available... + 2.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[INFO] [1780085958.801087851] waiting for service /controller_manager/list_controllers to become available... + 3.80sINFOobjective_server_node_main[2026-05-29 20:19:19.753] [moveit_pro_license] [info] + 3.80sINFOobjective_server_node_main************************************************* ×4 + 3.80sINFOobjective_server_node_main* MoveIt Pro License ×2 + 3.80sINFOobjective_server_node_main* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.03sWARNros2_control_node[33m[WARN] [1780085959.985621639] No keyframe specified, applying first keyframe to set initial state.[0m + 4.04sINFOros2_control_node[0m[INFO] [1780085959.987340862] Successful initialization of hardware 'ur_mujoco_control'[0m + 4.04sINFOros2_control_node[0m[INFO] [1780085959.988066015] 'configure' hardware 'ur_mujoco_control' [0m + 4.04sINFOros2_control_node[0m[INFO] [1780085959.988089775] Successful 'configure' of hardware 'ur_mujoco_control'[0m + 4.04sINFOros2_control_node[0m[INFO] [1780085959.988126836] 'activate' hardware 'ur_mujoco_control' [0m + 4.04sINFOros2_control_node[0m[INFO] [1780085959.988144466] Successful 'activate' of hardware 'ur_mujoco_control'[0m + 4.05sINFOros2_control_node[0m[INFO] [1780085959.996590243] update rate is 600 Hz[0m + 4.05sINFOros2_control_node[0m[INFO] [1780085959.997071292] Spawning controller_manager RT thread with scheduler priority: 50[0m + 4.05sWARNros2_control_node[33m[WARN] [1780085959.997237565] Could 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 + 4.07sINFOros2_control_node[0m[INFO] [1780085960.022260139] Loading controller 'joint_state_broadcaster'[0m + 4.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[INFO] [1780085960.055995125] [94mLoaded [1mjoint_state_broadcaster[0m + 4.11sINFOros2_control_node[0m[INFO] [1780085960.057433222] Loading controller 'joint_trajectory_admittance_controller'[0m + 4.23sINFOros2_control_node[0m[INFO] [1780085960.180389966] Loading controller 'force_torque_sensor_broadcaster'[0m + 4.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[INFO] [1780085960.181341463] [94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.24sINFOros2_control_node[0m[INFO] [1780085960.194796123] Loading controller 'robotiq_gripper_controller'[0m + 4.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[INFO] [1780085960.196146308] [94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.26sINFOros2_control_node[0m[INFO] [1780085960.211346371] Loading controller 'joint_velocity_controller'[0m + 4.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[INFO] [1780085960.212615474] [94mLoaded [1mrobotiq_gripper_controller[0m + 4.33sINFOros2_control_node[0m[INFO] [1780085960.283236125] Loading controller 'velocity_force_controller'[0m + 4.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[INFO] [1780085960.284310815] [94mLoaded [1mjoint_velocity_controller[0m + 4.40sINFOros2_control_node[0m[INFO] [1780085960.353216765] Loading controller 'joint_trajectory_controller'[0m + 4.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[INFO] [1780085960.354346466] [94mLoaded [1mvelocity_force_controller[0m + 4.43sWARNros2_control_node[33m[WARN] [1780085960.380290239] [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 4.43sINFOros2_control_node[0m[INFO] [1780085960.381550002] Configuring controller 'joint_state_broadcaster'[0m + 4.43sINFOros2_control_node[0m[INFO] [1780085960.381764516] Publishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 4.43sWARNros2_control_node[33m[WARN] [1780085960.381837377] Mapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 4.43sWARNros2_control_node[33m[WARN] [1780085960.382001040] Mapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 4.43sWARNros2_control_node[33m[WARN] [1780085960.382069172] Mapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 4.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[INFO] [1780085960.383002099] [94mLoaded [1mjoint_trajectory_controller[0m + 4.44sINFOros2_control_node[0m[INFO] [1780085960.386689507] Configuring controller 'joint_trajectory_admittance_controller'[0m + 4.44sINFOros2_control_node[2026-05-29 20:19:20.386] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.44sINFOros2_control_node[2026-05-29 20:19:20.386] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 6.49sINFOros2_control_node[0m[INFO] [1780085962.445818696] Loading robot model 'ur5e'...[0m + 6.52sINFOros2_control_node[2026-05-29 20:19:22.472] [info] First order lag filter time constant set to: 0.2 seconds + 6.52sINFOros2_control_node[2026-05-29 20:19:22.472] [info] Controller state will be published at 50 Hz. + 6.53sINFOros2_control_node[2026-05-29 20:19:22.479] [info] Registered `FollowJointTrajectory` action server. + 6.53sINFOros2_control_node[0m[INFO] [1780085962.480173014] Configuring controller 'force_torque_sensor_broadcaster'[0m + 6.53sINFOros2_control_node[0m[INFO] [1780085962.483092248] Configuring controller 'robotiq_gripper_controller'[0m + 6.53sINFOros2_control_node[0m[INFO] [1780085962.483245671] Action status changes will be monitored at 20.000000 Hz.[0m + 6.53sINFOros2_control_node[0m[INFO] [1780085962.485515193] Configuring controller 'joint_velocity_controller'[0m + 6.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 22508] + 8.54sINFOros2_control_node[0m[INFO] [1780085964.496168063] Loading robot model 'ur5e'...[0m + 8.57sINFOros2_control_node[2026-05-29 20:19:24.523] [info] Controller state will be published at 20 Hz. + 8.57sINFOros2_control_node[2026-05-29 20:19:24.524] [info] JointVelocityController 'on_configure' succeeded. + 8.57sINFOros2_control_node[0m[INFO] [1780085964.526432314] Configuring controller 'velocity_force_controller'[0m + 8.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 22514] + 10.59sINFOros2_control_node[0m[INFO] [1780085966.545613642] Loading robot model 'ur5e'...[0m + 10.63sINFOros2_control_node[2026-05-29 20:19:26.576] [info] Controller state will be published at 10 Hz. + 10.63sINFOros2_control_node[2026-05-29 20:19:26.577] [info] VelocityForceController 'on_configure' succeeded. + 10.63sINFOros2_control_node[0m[INFO] [1780085966.579830167] Configuring controller 'joint_trajectory_controller'[0m + 10.63sINFOros2_control_node[0m[INFO] [1780085966.580233694] Command interfaces are [position] and state interfaces are [position velocity].[0m + 10.63sINFOros2_control_node[0m[INFO] [1780085966.580324006] Using 'splines' interpolation method.[0m + 10.63sINFOros2_control_node[0m[INFO] [1780085966.581176732] Controller state will be published at 100.00 Hz.[0m + 10.63sINFOros2_control_node[0m[INFO] [1780085966.584093786] Action status changes will be monitored at 20.00 Hz.[0m + 10.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[INFO] [1780085966.594507859] [92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[INFO] [1780085966.597617467] [92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 10.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[INFO] [1780085966.603541388] [92mConfigured and activated [1mrobotiq_gripper_controller[0m + 10.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[INFO] [1780085966.606134906] [92mConfigured and activated [1mjoint_trajectory_controller[0m + 10.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 22510] + 10.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 22506] + 10.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 22502] + 10.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 22504] + 10.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 22500] + 11.75sERRORmove_group[31m[ERROR] [1780085967.700338986] Could not find parameter robot_description and did not receive robot_description via std_msgs::msg::String subscription within 10.000000 seconds.[0m + 12.13sERRORwaypoint_manager_node[31m[ERROR] [1780085968.080935953] Could not find parameter robot_description and did not receive robot_description via std_msgs::msg::String subscription within 10.000000 seconds.[0m + 13.85sERRORobjective_server_node_main[31m[ERROR] [1780085969.802569366] Could not find parameter robot_description and did not receive robot_description via std_msgs::msg::String subscription within 10.000000 seconds.[0m + 14.06sINFOros2_control_node[0m[INFO] [1780085970.006865259] MuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.000 of wall time (4/3198). Below 1% is expected on a non-realtime system.[0m + 21.83sINFOmove_groupError: Error document empty. ×2 + 21.83sINFOmove_groupat line 100 in ./urdf_parser/src/model.cpp ×2 + 21.83sINFOmove_groupFailed to parse robot description using: urdf_xml_parser/URDFXMLParser ×2 + 21.85sERRORmove_group[31m[ERROR] [1780085977.801520571] Robot model not loaded[0m + 21.85sERRORmove_group[31m[ERROR] [1780085977.802501459] Planning scene not configured[0m + 21.85sFATALmove_group[31m[FATAL] [1780085977.802553330] Unable to configure planning scene monitor[0m + 21.85sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 21.85sERRORmove_groupwhat(): Unable to configure planning scene monitor ×2 + 21.85sERRORmove_groupStack trace (most recent call last): ×2 + 21.86sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 21.86sINFOmove_group#11 Object "/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x55ac9bee6de4, in _start + 21.86sINFOmove_group#10 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb3ced46e3f, in __libc_start_main + 21.86sINFOmove_group#9 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb3ced46d8f, in + 21.86sINFOmove_group#8 Object "/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x55ac9bee714a, in main + 21.86sINFOmove_group#7 Object "/opt/overlay_ws/install/moveit_ros_planning/lib/libmoveit_cpp.so.9.4.0", at 0x7fb3cf6dd6b7, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptr<rclcpp::Node> const&, moveit_cpp::MoveItCpp::Options const&) + 21.86sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fb3cf0164d7, in __cxa_throw + 21.86sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fb3cf016276, in std::terminate() + 21.86sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fb3cf01620b, in + 21.86sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fb3cf00ab9d, in + 21.86sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb3ced457f2, in abort + 21.86sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb3ced5f475, in raise + 21.86sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb3cedb39fc, in pthread_kill + 21.86sERRORmove_groupAborted (Signal sent by tkill() 22517 0) + 21.87sERRORmove_group-9process has died [pid 22517, 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_fc0ashin --params-file /tmp/launch_params_3heota10 --params-file /tmp/launch_params_h4772j45 --params-file /tmp/launch_params_4zay5e7v --params-file /tmp/launch_params_haf__tav --params-file /tmp/launch_params_d9pe3nlj --params-file /tmp/launch_params_vh5efyrh --params-file /tmp/launch_params_z6g49x6o --params-file /tmp/launch_params_7b5nb0f1']. + 22.19sINFOwaypoint_manager_nodeError: Error document empty. ×2 + 22.19sINFOwaypoint_manager_nodeat line 100 in ./urdf_parser/src/model.cpp ×2 + 22.19sINFOwaypoint_manager_nodeFailed to parse robot description using: urdf_xml_parser/URDFXMLParser ×2 + 22.21sERRORwaypoint_manager_node[31m[ERROR] [1780085978.157917868] Robot model not loaded[0m + 22.21sERRORwaypoint_manager_nodeStack trace (most recent call last): ×2 + 22.22sINFOwaypoint_manager_node#6 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 22.22sINFOwaypoint_manager_node#5 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node", at 0x556f8ae7cd74, in _start + 22.22sINFOwaypoint_manager_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4b1deace3f, in __libc_start_main + 22.22sINFOwaypoint_manager_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4b1deacd8f, in + 22.22sINFOwaypoint_manager_node#2 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node", at 0x556f8ae7cf3d, in main + 22.22sINFOwaypoint_manager_node#1 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node", at 0x556f8ae7eeeb, in moveit_studio::waypoint_manager::WaypointManagerNode::WaypointManagerNode(rclcpp::NodeOptions const&) + 22.22sINFOwaypoint_manager_node#0 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node", at 0x556f8ae8bf91, in moveit_studio::waypoint_manager::WaypointManager::WaypointManager(std::shared_ptr<moveit_pro::base::RobotModel const> const&) + 22.22sERRORwaypoint_manager_nodeSegmentation fault (Address not mapped to object [0x40]) ×2 + 22.23sERRORwaypoint_manager_node-11process has died [pid 22559, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node --ros-args --log-level error --ros-args --params-file /tmp/launch_params_q9p37ob6 --params-file /tmp/launch_params_fejl83tu --params-file /tmp/launch_params_gqwlyr4e --params-file /tmp/launch_params_p9xysc2p']. + 23.93sINFOobjective_server_node_mainError: Error document empty. ×2 + 23.93sINFOobjective_server_node_mainat line 100 in ./urdf_parser/src/model.cpp ×2 + 23.93sINFOobjective_server_node_mainFailed to parse robot description using: urdf_xml_parser/URDFXMLParser ×2 + 23.93sERRORobjective_server_node_mainterminate called after throwing an instance of 'std::runtime_error' ×2 + 23.93sERRORobjective_server_node_mainwhat(): Failed to load the RobotModel into the BehaviorContext. Can't continue. ×2 + 23.93sERRORobjective_server_node_mainStack trace (most recent call last): ×2 + 23.94sINFOobjective_server_node_main#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 23.94sINFOobjective_server_node_main#13 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558d60ae24e4, in _start + 23.94sINFOobjective_server_node_main#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8fa9340e3f, in __libc_start_main + 23.94sINFOobjective_server_node_main#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8fa9340d8f, in + 23.94sINFOobjective_server_node_main#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558d60ae26d0, in main + 23.94sINFOobjective_server_node_main#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/libobjective_server_node.so", at 0x7f8fa9a0a689, in moveit_studio::objective_server::ObjectiveServerNode::ObjectiveServerNode(rclcpp::NodeOptions const&) + 23.94sINFOobjective_server_node_main#8 Object "/opt/overlay_ws/install/moveit_pro_behavior_interface/lib/libbehavior_context.so", at 0x7f8fa7ebe2ec, in moveit_pro::behaviors::BehaviorContext::BehaviorContext(std::shared_ptr<rclcpp::Node> const&, bool, bool) + 23.94sINFOobjective_server_node_main#7 Object "/opt/overlay_ws/install/moveit_pro_behavior_interface/lib/libbehavior_context.so", at 0x7f8fa7ebe774, in moveit_pro::behaviors::BehaviorContext::BehaviorContext(std::shared_ptr<rclcpp::Node> const&, std::unique_ptr<moveit_pro::behavior::LoggerBase, std::default_delete<moveit_pro::behavior::LoggerBase> >, bool, bool) + 23.94sINFOobjective_server_node_main#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f8fa960e4d7, in __cxa_throw + 23.94sINFOobjective_server_node_main#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f8fa960e276, in std::terminate() + 23.94sINFOobjective_server_node_main#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f8fa960e20b, in + 23.94sINFOobjective_server_node_main#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f8fa9602b9d, in + 23.94sINFOobjective_server_node_main#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8fa933f7f2, in abort + 23.94sINFOobjective_server_node_main#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8fa9359475, in raise + 23.94sINFOobjective_server_node_main#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8fa93ad9fc, in pthread_kill + 23.94sERRORobjective_server_node_mainAborted (Signal sent by tkill() 22565 0) + 23.97sERRORobjective_server_node_main-14process has died [pid 22565, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_g5ie7ohr --params-file /tmp/launch_params_cliie4og --params-file /tmp/launch_params_0evl6pfi --params-file /tmp/launch_params_qgf1th60 --params-file /tmp/launch_params_sh_8ysiw --params-file /tmp/launch_params_v82yel3_']. + 23.97sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 68.20sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-05-29-20-20-23-366707-bbd22c564faf-23061 + 70.12sINFOros2_control_node-1process started with pid [23066] + 70.12sINFOmove_group-9process started with pid [23086] + 70.12sINFOparameter_manager_node-10process started with pid [23089] + 70.12sINFOwaypoint_manager_node-11process started with pid [23127] + 70.12sINFOmove_joint_resampler_node-12process started with pid [23129] + 70.12sINFOmove_end_effector_resampler_node-13process started with pid [23131] + 70.12sINFOobjective_server_node_main-14process started with pid [23133] + 70.12sINFOcomponent_container_mt-15process started with pid [23135] + 70.12sINFOexecute_objective_bridge-16process started with pid [23137] + 70.12sINFOui_teleop_bridge-17process started with pid [23139] + 70.12sINFOrosapi_node-18process started with pid [23149] + 70.12sINFOrosbridge_websocket-19process started with pid [23151] + 70.12sINFOtf2_web_republisher_node-20process started with pid [23154] + 70.12sINFOweb_video_server-21process started with pid [23173] + 70.14sINFOparameter_manager_node[INFO] [2026-05-29 20:20:25.964] Started parameter manager node. + 70.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [23068] + 70.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [23070] + 70.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [23072] + 70.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [23074] + 70.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [23077] + 70.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [23080] + 70.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [23083] + 70.14s30controller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 70.17sWARNros2_control_node[33m[WARN] [1780086026.095404627] [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 70.17sINFOros2_control_node[0m[INFO] [1780086026.096050499] Loading hardware 'ur_mujoco_control' [0m + 70.22s20web_video_serverLoading streamer plugin: web_video_server/stream/h264 + 70.22sINFOweb_video_server[0m[INFO] [1780086026.173548892] Loading streamer plugin: web_video_server/stream/h264[0m + 70.55s20web_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 70.55s20web_video_serverLoading streamer plugin: web_video_server/stream/png + 70.55s20web_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 70.55s20web_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 70.55s20web_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 70.55s20web_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 70.55s20web_video_serverLoading streamer plugin: web_video_server/snapshot/png + 70.55s20web_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 70.55s40web_video_serverException when creating the web server! 0.0.0.0:3202 + 70.59sINFOweb_video_server[0m[INFO] [1780086026.504614841] Loading streamer plugin: web_video_server/stream/mjpeg[0m + 70.59sINFOweb_video_server[0m[INFO] [1780086026.504760914] Loading streamer plugin: web_video_server/stream/png[0m + 70.59sINFOweb_video_server[0m[INFO] [1780086026.504803374] Loading streamer plugin: web_video_server/stream/ros_compressed[0m + 70.59sINFOweb_video_server[0m[INFO] [1780086026.504848805] Loading streamer plugin: web_video_server/stream/vp8[0m + 70.59sINFOweb_video_server[0m[INFO] [1780086026.504886456] Loading streamer plugin: web_video_server/stream/vp9[0m + 70.59sINFOweb_video_server[0m[INFO] [1780086026.504931857] Loading streamer plugin: web_video_server/snapshot/jpeg[0m + 70.59sINFOweb_video_server[0m[INFO] [1780086026.506330373] Loading streamer plugin: web_video_server/snapshot/png[0m + 70.59sINFOweb_video_server[0m[INFO] [1780086026.506382674] Loading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 70.59sERRORweb_video_server[31m[ERROR] [1780086026.506632438] Exception when creating the web server! 0.0.0.0:3202[0m + 70.59sERRORweb_video_serverterminate called after throwing an instance of 'boost::wrapexcept<boost::system::system_error>' + 70.59sERRORweb_video_serverwhat(): bind: Address already in use + 70.60sERRORweb_video_server-21process has died [pid 23173, exit code -6, cmd '/opt/ros/humble/lib/web_video_server/web_video_server --ros-args --params-file /tmp/launch_params_wv53gko9']. + 71.30s30rosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds. + 71.30sWARNrosbridge_websocket[33m[WARN] [1780086027.251808862] The 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds.[0m + 71.30s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×30 + 71.30sWARNrosbridge_websocket[33m[WARN] [1780086027.255541481] Unable to start server: [Errno 98] Address already in use Retrying in 2.0s.[0m + 71.37s30spawner_joint_trajectory_admittance_controller[93mController already loaded, skipping load_controller[0m + 71.37sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[WARN] [1780086027.325914772] [93mController already loaded, skipping load_controller[0m + 71.39s20controller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 71.41sINFOros2_control_node[0m[INFO] [1780086027.363712051] Initialize hardware 'ur_mujoco_control' [0m + 71.67s30spawner_joint_velocity_controller[93mController already loaded, skipping load_controller[0m + 71.67sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[WARN] [1780086027.623065085] [93mController already loaded, skipping load_controller[0m + 72.99sWARNros2_control_node[33m[WARN] [1780086028.940061238] No keyframe specified, applying first keyframe to set initial state.[0m + 72.99sINFOros2_control_node[0m[INFO] [1780086028.941837081] Successful initialization of hardware 'ur_mujoco_control'[0m + 72.99sINFOros2_control_node[0m[INFO] [1780086028.942759768] 'configure' hardware 'ur_mujoco_control' [0m + 72.99sINFOros2_control_node[0m[INFO] [1780086028.942792569] Successful 'configure' of hardware 'ur_mujoco_control'[0m + 72.99sINFOros2_control_node[0m[INFO] [1780086028.942831080] 'activate' hardware 'ur_mujoco_control' [0m + 72.99sINFOros2_control_node[0m[INFO] [1780086028.942845850] Successful 'activate' of hardware 'ur_mujoco_control'[0m + 73.00s20controller_managerupdate rate is 600 Hz + 73.01s20controller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 73.01sINFOros2_control_node[0m[INFO] [1780086028.956585873] update rate is 600 Hz[0m + 73.01sINFOros2_control_node[0m[INFO] [1780086028.957596962] Spawning controller_manager RT thread with scheduler priority: 50[0m + 73.01s30controller_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. + 73.01sWARNros2_control_node[33m[WARN] [1780086028.959078899] Could 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 + 73.05sINFOobjective_server_node_main[2026-05-29 20:20:29.004] [moveit_pro_license] [info] + 73.31sWARNrosbridge_websocket[33m[WARN] [1780086029.258745169] Unable to start server: [Errno 98] Address already in use Retrying in 2.0s.[0m + 73.43s20controller_managerConfiguring controller 'joint_velocity_controller' + 73.47s30spawner_velocity_force_controller[93mController already loaded, skipping load_controller[0m + 73.47s30spawner_joint_trajectory_controller[93mController already loaded, skipping load_controller[0m + 73.47sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[WARN] [1780086029.420230283] [93mController already loaded, skipping load_controller[0m + 73.47s30spawner_joint_state_broadcaster[93mController already loaded, skipping load_controller[0m + 73.47sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[WARN] [1780086029.420536019] [93mController already loaded, skipping load_controller[0m + 73.47s20controller_managerConfiguring controller 'joint_trajectory_controller' ×2 + 73.47s40controller_managerCould not configure controller with name 'joint_trajectory_controller' because no controller with this name exists + 73.47sWARNros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[WARN] [1780086029.421591148] [93mController already loaded, skipping load_controller[0m + 73.47s20controller_managerConfiguring controller 'velocity_force_controller' ×2 + 73.47s40controller_managerCould not configure controller with name 'velocity_force_controller' because no controller with this name exists + 73.47s30spawner_robotiq_gripper_controller[93mController already loaded, skipping load_controller[0m + 73.47sINFOros2_control_node[0m[INFO] [1780086029.424681796] Configuring controller 'joint_trajectory_controller'[0m + 73.47s30spawner_force_torque_sensor_broadcaster[93mController already loaded, skipping load_controller[0m + 73.47sERRORros2_control_node[31m[ERROR] [1780086029.424788998] Could not configure controller with name 'joint_trajectory_controller' because no controller with this name exists[0m + 73.47sINFOros2_control_node[0m[INFO] [1780086029.425050582] Configuring controller 'velocity_force_controller'[0m + 73.47sERRORros2_control_node[31m[ERROR] [1780086029.425115354] Could not configure controller with name 'velocity_force_controller' because no controller with this name exists[0m + 73.47s40spawner_joint_trajectory_controller[91mFailed to configure controller[0m + 73.48s40spawner_velocity_force_controller[91mFailed to configure controller[0m + 73.48s20controller_managerConfiguring controller 'joint_state_broadcaster' ×2 + 73.48s40controller_managerCould not configure controller with name 'joint_state_broadcaster' because no controller with this name exists + 73.48sWARNros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[WARN] [1780086029.425472700] [93mController already loaded, skipping load_controller[0m + 73.48s20controller_managerConfiguring controller 'robotiq_gripper_controller' ×2 + 73.48s40controller_managerCould not configure controller with name 'robotiq_gripper_controller' because no controller with this name exists + 73.48sWARNros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[WARN] [1780086029.426024160] [93mController already loaded, skipping load_controller[0m + 73.48s40spawner_joint_state_broadcaster[91mFailed to configure controller[0m + 73.48sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[ERROR] [1780086029.426744694] [91mFailed to configure controller[0m + 73.48sINFOros2_control_node[0m[INFO] [1780086029.427522768] Configuring controller 'joint_state_broadcaster'[0m + 73.48sERRORros2_control_node[31m[ERROR] [1780086029.427631970] Could not configure controller with name 'joint_state_broadcaster' because no controller with this name exists[0m + 73.48sINFOros2_control_node[0m[INFO] [1780086029.428896414] Configuring controller 'robotiq_gripper_controller'[0m + 73.48sERRORros2_control_node[31m[ERROR] [1780086029.429004526] Could not configure controller with name 'robotiq_gripper_controller' because no controller with this name exists[0m + 73.48sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[ERROR] [1780086029.427386826] [91mFailed to configure controller[0m + 73.48sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[ERROR] [1780086029.431390880] [91mFailed to configure controller[0m + 73.49s20controller_managerConfiguring controller 'force_torque_sensor_broadcaster' ×2 + 73.49s40controller_managerCould not configure controller with name 'force_torque_sensor_broadcaster' because no controller with this name exists + 73.49sINFOros2_control_node[0m[INFO] [1780086029.441130840] Configuring controller 'force_torque_sensor_broadcaster'[0m + 73.49sERRORros2_control_node[31m[ERROR] [1780086029.441417995] Could not configure controller with name 'force_torque_sensor_broadcaster' because no controller with this name exists[0m + 73.49s40spawner_robotiq_gripper_controller[91mFailed to configure controller[0m + 73.49sERRORros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[ERROR] [1780086029.442490375] [91mFailed to configure controller[0m + 73.49s40spawner_force_torque_sensor_broadcaster[91mFailed to configure controller[0m + 73.49sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ERROR] [1780086029.444900449] [91mFailed to configure controller[0m + 73.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 23077] + 73.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[ros2run]: Process exited with failure 1 + 73.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[ros2run]: Process exited with failure 1 + 73.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[ros2run]: Process exited with failure 1 + 73.83sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has died [pid 23072, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster']. + 73.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[ros2run]: Process exited with failure 1 + 73.84sERRORros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has died [pid 23068, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster']. + 73.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[ros2run]: Process exited with failure 1 + 73.86sERRORros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has died [pid 23070, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller']. + 73.89sERRORros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has died [pid 23080, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller']. + 73.89sERRORros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has died [pid 23074, exit code 1, cmd 'ros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller']. + 75.31sWARNrosbridge_websocket[33m[WARN] [1780086031.262116329] Unable to start server: [Errno 98] Address already in use Retrying in 2.0s.[0m + 75.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 23083] + 77.32sWARNrosbridge_websocket[33m[WARN] [1780086033.268850321] Unable to start server: [Errno 98] Address already in use Retrying in 2.0s.[0m + 77.47s40controller_managerController 'joint_state_broadcaster' can not be configured from 'active' state. + 77.47s40controller_managerController 'robotiq_gripper_controller' can not be configured from 'active' state. + 77.47s40controller_managerController 'force_torque_sensor_broadcaster' can not be configured from 'active' state. + 77.47s40controller_managerController 'joint_trajectory_controller' can not be configured from 'active' state. + 79.32sWARNrosbridge_websocket[33m[WARN] [1780086035.272802243] Unable to start server: [Errno 98] Address already in use Retrying in 2.0s.[0m + 80.25s40move_groupCould not find parameter robot_description and did not receive robot_description via std_msgs::msg::String subscription within 10.000000 seconds. + 80.25sERRORmove_group[31m[ERROR] [1780086036.202875925] Could not find parameter robot_description and did not receive robot_description via std_msgs::msg::String subscription within 10.000000 seconds.[0m + 80.90s40waypoint_managerCould not find parameter robot_description and did not receive robot_description via std_msgs::msg::String subscription within 10.000000 seconds. + 80.90sERRORwaypoint_manager_node[31m[ERROR] [1780086036.847779385] Could not find parameter robot_description and did not receive robot_description via std_msgs::msg::String subscription within 10.000000 seconds.[0m + 81.32sWARNrosbridge_websocket[33m[WARN] [1780086037.276291195] Unable to start server: [Errno 98] Address already in use Retrying in 2.0s.[0m + 83.04sINFOros2_control_node[0m[INFO] [1780086038.983001892] MuJoCo sim overruns (rolling 10 min window): 1.31% of iterations over budget over 0:10.000 of wall time (38/2909). Consistently above 1% means the model timestep should be raised.[0m + 83.14s40objective_server_nodeCould not find parameter robot_description and did not receive robot_description via std_msgs::msg::String subscription within 10.000000 seconds. + 83.14sERRORobjective_server_node_main[31m[ERROR] [1780086039.089345828] Could not find parameter robot_description and did not receive robot_description via std_msgs::msg::String subscription within 10.000000 seconds.[0m + 83.33sWARNrosbridge_websocket[33m[WARN] [1780086039.279047304] Unable to start server: [Errno 98] Address already in use Retrying in 2.0s.[0m + 85.33sWARNrosbridge_websocket[33m[WARN] [1780086041.282557187] Unable to start server: [Errno 98] Address already in use Retrying in 2.0s.[0m + 87.33sWARNrosbridge_websocket[33m[WARN] [1780086043.286399605] Unable to start server: [Errno 98] Address already in use Retrying in 2.0s.[0m + 89.34sWARNrosbridge_websocket[33m[WARN] [1780086045.288974542] Unable to start server: [Errno 98] Address already in use Retrying in 2.0s.[0m + 90.37sERRORmove_group[31m[ERROR] [1780086046.326405748] Robot model not loaded[0m + 90.38sERRORmove_group[31m[ERROR] [1780086046.328910954] Planning scene not configured[0m + 90.38sFATALmove_group[31m[FATAL] [1780086046.329019186] Unable to configure planning scene monitor[0m + 90.38sINFOmove_group#11 Object "/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x56257126bde4, in _start + 90.38sINFOmove_group#10 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fda7ac3ee3f, in __libc_start_main + 90.38sINFOmove_group#9 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fda7ac3ed8f, in + 90.38sINFOmove_group#8 Object "/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x56257126c14a, in main + 90.39sINFOmove_group#7 Object "/opt/overlay_ws/install/moveit_ros_planning/lib/libmoveit_cpp.so.9.4.0", at 0x7fda7b5d56b7, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptr<rclcpp::Node> const&, moveit_cpp::MoveItCpp::Options const&) + 90.39sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fda7af0e4d7, in __cxa_throw + 90.39sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fda7af0e276, in std::terminate() + 90.39sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fda7af0e20b, in + 90.39sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fda7af02b9d, in + 90.39sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fda7ac3d7f2, in abort + 90.39sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fda7ac57475, in raise + 90.39sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fda7acab9fc, in pthread_kill + 90.39sERRORmove_groupAborted (Signal sent by tkill() 23086 0) + 90.40sERRORmove_group-9process has died [pid 23086, 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_6wm5mm3e --params-file /tmp/launch_params_lgqfa_0z --params-file /tmp/launch_params_ux7py50t --params-file /tmp/launch_params_w6purw7c --params-file /tmp/launch_params_90khf8zs --params-file /tmp/launch_params_742bwmgg --params-file /tmp/launch_params_27j2iz8x --params-file /tmp/launch_params_at9afov3 --params-file /tmp/launch_params_swmvx5ob']. + 91.00sERRORwaypoint_manager_node[31m[ERROR] [1780086046.946906417] Robot model not loaded[0m + 91.02sINFOwaypoint_manager_node#5 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node", at 0x563b5a4c8d74, in _start + 91.02sINFOwaypoint_manager_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa10429de3f, in __libc_start_main + 91.02sINFOwaypoint_manager_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa10429dd8f, in + 91.02sINFOwaypoint_manager_node#2 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node", at 0x563b5a4c8f3d, in main + 91.02sINFOwaypoint_manager_node#1 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node", at 0x563b5a4caeeb, in moveit_studio::waypoint_manager::WaypointManagerNode::WaypointManagerNode(rclcpp::NodeOptions const&) + 91.02sINFOwaypoint_manager_node#0 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node", at 0x563b5a4d7f91, in moveit_studio::waypoint_manager::WaypointManager::WaypointManager(std::shared_ptr<moveit_pro::base::RobotModel const> const&) + 91.03sERRORwaypoint_manager_node-11process has died [pid 23127, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node --ros-args --log-level error --ros-args --params-file /tmp/launch_params_o91kyhlu --params-file /tmp/launch_params_yvgtzi3u --params-file /tmp/launch_params_q09sv3eb --params-file /tmp/launch_params_sbwvtuzl']. + 91.34sWARNrosbridge_websocket[33m[WARN] [1780086047.292491455] Unable to start server: [Errno 98] Address already in use Retrying in 2.0s.[0m + 93.27sINFOobjective_server_node_main#13 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55eab3e164e4, in _start + 93.27sINFOobjective_server_node_main#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5c6adcee3f, in __libc_start_main + 93.27sINFOobjective_server_node_main#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5c6adced8f, in + 93.27sINFOobjective_server_node_main#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55eab3e166d0, in main + 93.27sINFOobjective_server_node_main#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/libobjective_server_node.so", at 0x7f5c6b498689, in moveit_studio::objective_server::ObjectiveServerNode::ObjectiveServerNode(rclcpp::NodeOptions const&) + 93.27sINFOobjective_server_node_main#8 Object "/opt/overlay_ws/install/moveit_pro_behavior_interface/lib/libbehavior_context.so", at 0x7f5c6994c2ec, in moveit_pro::behaviors::BehaviorContext::BehaviorContext(std::shared_ptr<rclcpp::Node> const&, bool, bool) + 93.27sINFOobjective_server_node_main#7 Object "/opt/overlay_ws/install/moveit_pro_behavior_interface/lib/libbehavior_context.so", at 0x7f5c6994c774, in moveit_pro::behaviors::BehaviorContext::BehaviorContext(std::shared_ptr<rclcpp::Node> const&, std::unique_ptr<moveit_pro::behavior::LoggerBase, std::default_delete<moveit_pro::behavior::LoggerBase> >, bool, bool) + 93.27sINFOobjective_server_node_main#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f5c6b09c4d7, in __cxa_throw + 93.27sINFOobjective_server_node_main#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f5c6b09c276, in std::terminate() + 93.27sINFOobjective_server_node_main#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f5c6b09c20b, in + 93.27sINFOobjective_server_node_main#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f5c6b090b9d, in + 93.28sINFOobjective_server_node_main#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5c6adcd7f2, in abort + 93.28sINFOobjective_server_node_main#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5c6ade7475, in raise + 93.29sINFOobjective_server_node_main#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5c6ae3b9fc, in pthread_kill + 93.29sERRORobjective_server_node_mainAborted (Signal sent by tkill() 23133 0) + 93.31sERRORobjective_server_node_main-14process has died [pid 23133, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_co5y9uce --params-file /tmp/launch_params_es60nmal --params-file /tmp/launch_params_f3zke5pz --params-file /tmp/launch_params_z1lvwqxz --params-file /tmp/launch_params_mbb0k7rp --params-file /tmp/launch_params_uy99tryv']. | ||||
| ! error | — | reset_planning_scene.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| ! error | — | vector_subtrees_example.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 errors · 4 warnings · 51 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/2026-05-29-20-20-23-366707-bbd22c564faf-23061 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.92sINFOros2_control_node-1process started with pid [23066] + 1.92sINFOmove_group-9process started with pid [23086] + 1.92sINFOparameter_manager_node-10process started with pid [23089] + 1.92sINFOwaypoint_manager_node-11process started with pid [23127] + 1.92sINFOmove_joint_resampler_node-12process started with pid [23129] + 1.92sINFOmove_end_effector_resampler_node-13process started with pid [23131] + 1.92sINFOobjective_server_node_main-14process started with pid [23133] + 1.92sINFOcomponent_container_mt-15process started with pid [23135] + 1.92sINFOexecute_objective_bridge-16process started with pid [23137] + 1.92sINFOui_teleop_bridge-17process started with pid [23139] + 1.93sINFOrosapi_node-18process started with pid [23149] + 1.93sINFOrosbridge_websocket-19process started with pid [23151] + 1.93sINFOtf2_web_republisher_node-20process started with pid [23154] + 1.93sINFOweb_video_server-21process started with pid [23173] + 1.94sINFOparameter_manager_node[INFO] [2026-05-29 20:20:25.964] Started parameter manager node. + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [23068] + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [23070] + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [23072] + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [23074] + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [23077] + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [23080] + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [23083] + 1.94s30controller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.97sWARNros2_control_node[33m[WARN] [1780086026.095404627] [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.97sINFOros2_control_node[0m[INFO] [1780086026.096050499] Loading hardware 'ur_mujoco_control' [0m + 2.02s20web_video_serverLoading streamer plugin: web_video_server/stream/h264 + 2.03sINFOweb_video_server[0m[INFO] [1780086026.173548892] Loading streamer plugin: web_video_server/stream/h264[0m + 2.35s20web_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.35s20web_video_serverLoading streamer plugin: web_video_server/stream/png + 2.35s20web_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.35s20web_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.35s20web_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.35s20web_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.36s20web_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.36s20web_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.36s40web_video_serverException when creating the web server! 0.0.0.0:3202 + 2.39sINFOweb_video_server[0m[INFO] [1780086026.504614841] Loading streamer plugin: web_video_server/stream/mjpeg[0m + 2.39sINFOweb_video_server[0m[INFO] [1780086026.504760914] Loading streamer plugin: web_video_server/stream/png[0m + 2.39sINFOweb_video_server[0m[INFO] [1780086026.504803374] Loading streamer plugin: web_video_server/stream/ros_compressed[0m + 2.39sINFOweb_video_server[0m[INFO] [1780086026.504848805] Loading streamer plugin: web_video_server/stream/vp8[0m + 2.39sINFOweb_video_server[0m[INFO] [1780086026.504886456] Loading streamer plugin: web_video_server/stream/vp9[0m + 2.39sINFOweb_video_server[0m[INFO] [1780086026.504931857] Loading streamer plugin: web_video_server/snapshot/jpeg[0m + 2.39sINFOweb_video_server[0m[INFO] [1780086026.506330373] Loading streamer plugin: web_video_server/snapshot/png[0m + 2.39sINFOweb_video_server[0m[INFO] [1780086026.506382674] Loading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 2.39sERRORweb_video_server[31m[ERROR] [1780086026.506632438] Exception when creating the web server! 0.0.0.0:3202[0m + 2.39sERRORweb_video_serverterminate called after throwing an instance of 'boost::wrapexcept<boost::system::system_error>' + 2.39sERRORweb_video_serverwhat(): bind: Address already in use + 2.40sERRORweb_video_server-21process has died [pid 23173, exit code -6, cmd '/opt/ros/humble/lib/web_video_server/web_video_server --ros-args --params-file /tmp/launch_params_wv53gko9']. + 2.78sINFOrosbridge_websocketregistered capabilities (classes): + 2.78sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> + 2.78sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> + 2.78sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> + 2.78sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> + 2.78sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> + 2.78sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> + 2.78sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> + 2.78sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> + 2.78sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> + 2.78sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> + 2.78sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> + 2.78sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> + 2.78sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_action.UnadvertiseAction'> + 3.10s30rosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds. + 3.10sWARNrosbridge_websocket[33m[WARN] [1780086027.251808862] The 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds.[0m + 3.10s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. + 3.11sWARNrosbridge_websocket[33m[WARN] [1780086027.255541481] Unable to start server: [Errno 98] Address already in use Retrying in 2.0s.[0m + 3.18s30spawner_joint_trajectory_admittance_controller[93mController already loaded, skipping load_controller[0m + 3.18sWARNros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[WARN] [1780086027.325914772] [93mController already loaded, skipping load_controller[0m + 3.19s20controller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 3.21sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 3.21sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 3.21sINFOros2_control_node[0m[INFO] [1780086027.363712051] Initialize hardware 'ur_mujoco_control' [0m | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 fail
| ! error | — | reset_mujoco_sim.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
▾
/__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 | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | … |
+ 0.00s30rosbridge_websocketUnable to start server: [Errno 98] Address already in use Retrying in 2.0s. ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
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