MoveIt Pro Objective Integration Tests

118

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

1.7s

Avg test time

Objective pass rate

Show INFO/DEBUG

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

31 fail54 skip

! error	Take Wrist Camera Snapshot	wrist_snap.xml	0.2s	no logs
No ROS log lines in this test's time window.
! error	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Pick April Tag Labeled Object	apriltag_pick_object.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Clear Previous Obstacles	clear_previous_obstacles.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Close Gripper	close_gripper.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Cycle Between Waypoints	cycle_between_waypoints.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Push Button	move_with_velocity_and_force.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Open Gripper	open_gripper.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Plan and Save Trajectory	plan_and_save_trajectory.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Playback Square Trajectory	playback_square_trajectory.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Save Robot Joint State	save_robot_joint_state.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Stationary Admittance	stationary_admittance.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Vector and String Example	vector_and_string_example.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Visualize Grasp Link	visualize_grasp_link.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Look at Table	look_at_table.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	ML Find Objects on Table	ml_find_objects_on_table.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Move Flasks to Burners	move_flasks_to_burners.xml	0.0s	no logs
No ROS log lines in this test's time window.
! 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	no logs
No ROS log lines in this test's time window.
! 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	no logs
No ROS log lines in this test's time window.
! error	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	Take Scene Camera Snapshot	take_snap.xml	0.0s	no logs
No ROS log lines in this test's time window.
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Place Object	place_object.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Force Relaxation	force_relaxation.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Grasp Planning	grasp_planning.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ML Auto Grasp Object from Clicked Point	ml_auto_grasp_object_from_clicked_point.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Move Along Square	move_along_square.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Octomap Example	octomap_example.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick object	pick_object.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Pick up Object	pick_up_cube.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Place at Pose	place_at_pose.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Register CAD Part	register_cad_part.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	skipped
No ROS log lines in this test's time window.

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

3 fail8 skip

! error	—	clear_snapshot.xml	60.5s	20 errors · 8 warnings · 169 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/2026-05-29-23-37-14-557020-aa71c0dd80ce-22462 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.78sINFOros2_control_node-1process started with pid [22467] + 1.78sINFOmove_group-9process started with pid [22486] + 1.78sINFOparameter_manager_node-10process started with pid [22489] + 1.78sINFOwaypoint_manager_node-11process started with pid [22530] + 1.78sINFOmove_joint_resampler_node-12process started with pid [22538] + 1.78sINFOmove_end_effector_resampler_node-13process started with pid [22541] + 1.78sINFOobjective_server_node_main-14process started with pid [22543] + 1.78sINFOcomponent_container_mt-15process started with pid [22545] + 1.78sINFOexecute_objective_bridge-16process started with pid [22547] + 1.78sINFOui_teleop_bridge-17process started with pid [22549] + 1.78sINFOrosapi_node-18process started with pid [22551] + 1.78sINFOrosbridge_websocket-19process started with pid [22553] + 1.78sINFOtf2_web_republisher_node-20process started with pid [22569] + 1.78sINFOweb_video_server-21process started with pid [22600] + 1.78sINFOparameter_manager_node[INFO] [2026-05-29 23:37:16.832] Started parameter manager node. + 1.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [22469] + 1.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [22471] + 1.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [22473] + 1.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [22475] + 1.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [22477] + 1.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [22479] + 1.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [22483] + 1.80sWARNros2_control_node[33m[WARN] [1780097836.913896788] [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.80sINFOros2_control_node[0m[INFO] [1780097836.914463291] Loading hardware 'ur_mujoco_control' [0m + 1.86sINFOweb_video_server[0m[INFO] [1780097837.112067421] Loading streamer plugin: web_video_server/stream/h264[0m + 2.05sINFOweb_video_server[0m[INFO] [1780097837.308129825] Loading streamer plugin: web_video_server/stream/mjpeg[0m + 2.05sINFOweb_video_server[0m[INFO] [1780097837.308302169] Loading streamer plugin: web_video_server/stream/png[0m + 2.05sINFOweb_video_server[0m[INFO] [1780097837.308380691] Loading streamer plugin: web_video_server/stream/ros_compressed[0m + 2.05sINFOweb_video_server[0m[INFO] [1780097837.308458772] Loading streamer plugin: web_video_server/stream/vp8[0m + 2.05sINFOweb_video_server[0m[INFO] [1780097837.308532144] Loading streamer plugin: web_video_server/stream/vp9[0m + 2.05sINFOweb_video_server[0m[INFO] [1780097837.308603676] Loading streamer plugin: web_video_server/snapshot/jpeg[0m + 2.05sINFOweb_video_server[0m[INFO] [1780097837.310198944] Loading streamer plugin: web_video_server/snapshot/png[0m + 2.05sINFOweb_video_server[0m[INFO] [1780097837.310292377] Loading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 2.05sINFOweb_video_server[0m[INFO] [1780097837.310494391] Waiting For connections on 0.0.0.0:3202[0m + 2.55sINFOrosbridge_websocketregistered capabilities (classes): + 2.55sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> + 2.55sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> + 2.55sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> + 2.55sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> + 2.55sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> + 2.55sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> + 2.55sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> + 2.55sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> + 2.55sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> + 2.55sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> + 2.55sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> + 2.55sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> + 2.55sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_action.UnadvertiseAction'> + 2.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[INFO] [1780097837.863209576] waiting for service /controller_manager/list_controllers to become available... + 2.67sINFOros2_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. + 2.67sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.67sINFOros2_control_node[0m[INFO] [1780097837.931562009] Initialize hardware 'ur_mujoco_control' [0m + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[INFO] [1780097837.943224069] waiting for service /controller_manager/list_controllers to become available... + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[INFO] [1780097837.952096392] waiting for service /controller_manager/list_controllers to become available... + 2.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[INFO] [1780097837.959098241] waiting for service /controller_manager/list_controllers to become available... + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[INFO] [1780097837.965466034] waiting for service /controller_manager/list_controllers to become available... + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[INFO] [1780097837.966445748] waiting for service /controller_manager/list_controllers to become available... + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[INFO] [1780097837.972756039] waiting for service /controller_manager/list_controllers to become available... + 2.74sWARNrosbridge_websocket[33m[WARN] [1780097838.001604593] 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 + 3.83sINFOobjective_server_node_main[2026-05-29 23:37:19.090] [moveit_pro_license] [info] + 3.83sINFOobjective_server_node_main************************************************* ×2 + 3.83sINFOobjective_server_node_main* MoveIt Pro License + 3.83sINFOobjective_server_node_main* License is Valid! The license key you provided is active (this license does not have an expiration date) + 4.13sWARNros2_control_node[33m[WARN] [1780097839.394288229] No keyframe specified, applying first keyframe to set initial state.[0m + 4.14sINFOros2_control_node[0m[INFO] [1780097839.395923648] Successful initialization of hardware 'ur_mujoco_control'[0m + 4.14sINFOros2_control_node[0m[INFO] [1780097839.396626775] 'configure' hardware 'ur_mujoco_control' [0m + 4.14sINFOros2_control_node[0m[INFO] [1780097839.396647716] Successful 'configure' of hardware 'ur_mujoco_control'[0m + 4.14sINFOros2_control_node[0m[INFO] [1780097839.396669366] 'activate' hardware 'ur_mujoco_control' [0m + 4.14sINFOros2_control_node[0m[INFO] [1780097839.396682756] Successful 'activate' of hardware 'ur_mujoco_control'[0m + 4.15sINFOros2_control_node[0m[INFO] [1780097839.405110469] update rate is 600 Hz[0m + 4.15sINFOros2_control_node[0m[INFO] [1780097839.406394960] Spawning controller_manager RT thread with scheduler priority: 50[0m + 4.15sWARNros2_control_node[33m[WARN] [1780097839.406514163] 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 + 4.19sINFOros2_control_node[0m[INFO] [1780097839.447965998] Loading controller 'force_torque_sensor_broadcaster'[0m + 4.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[INFO] [1780097839.463537623] [94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.21sINFOros2_control_node[0m[INFO] [1780097839.464958567] Loading controller 'joint_state_broadcaster'[0m + 4.22sINFOros2_control_node[0m[INFO] [1780097839.479747303] Loading controller 'joint_trajectory_admittance_controller'[0m + 4.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[INFO] [1780097839.480298146] [94mLoaded [1mjoint_state_broadcaster[0m + 4.34sINFOros2_control_node[0m[INFO] [1780097839.603973728] Loading controller 'velocity_force_controller'[0m + 4.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[INFO] [1780097839.605306840] [94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.42sINFOros2_control_node[0m[INFO] [1780097839.677918105] Loading controller 'joint_velocity_controller'[0m + 4.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[INFO] [1780097839.678979991] [94mLoaded [1mvelocity_force_controller[0m + 4.49sINFOros2_control_node[0m[INFO] [1780097839.749141028] Loading controller 'joint_trajectory_controller'[0m + 4.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[INFO] [1780097839.750604994] [94mLoaded [1mjoint_velocity_controller[0m + 4.52sWARNros2_control_node[33m[WARN] [1780097839.776807502] [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 4.52sINFOros2_control_node[0m[INFO] [1780097839.777518879] Loading controller 'robotiq_gripper_controller'[0m + 4.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[INFO] [1780097839.778993225] [94mLoaded [1mjoint_trajectory_controller[0m + 4.54sINFOros2_control_node[0m[INFO] [1780097839.795725357] Configuring controller 'force_torque_sensor_broadcaster'[0m + 4.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[INFO] [1780097839.797202553] [94mLoaded [1mrobotiq_gripper_controller[0m + 4.54sINFOros2_control_node[0m[INFO] [1780097839.797643543] Configuring controller 'joint_state_broadcaster'[0m + 4.54sINFOros2_control_node[0m[INFO] [1780097839.797819738] Publishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 4.54sWARNros2_control_node[33m[WARN] [1780097839.797922750] Mapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 4.54sWARNros2_control_node[33m[WARN] [1780097839.797958481] Mapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 4.54sWARNros2_control_node[33m[WARN] [1780097839.798000842] Mapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 4.54sINFOros2_control_node[0m[INFO] [1780097839.802386688] Configuring controller 'joint_trajectory_admittance_controller'[0m + 4.54sINFOros2_control_node[2026-05-29 23:37:19.802] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.54sINFOros2_control_node[2026-05-29 23:37:19.802] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 6.59sINFOros2_control_node[0m[INFO] [1780097841.852514766] Loading robot model 'ur5e'...[0m + 6.62sINFOros2_control_node[2026-05-29 23:37:21.877] [info] First order lag filter time constant set to: 0.2 seconds + 6.62sINFOros2_control_node[2026-05-29 23:37:21.877] [info] Controller state will be published at 50 Hz. + 6.62sINFOros2_control_node[2026-05-29 23:37:21.883] [info] Registered `FollowJointTrajectory` action server. + 6.63sINFOros2_control_node[0m[INFO] [1780097841.885836697] Configuring controller 'velocity_force_controller'[0m + 6.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 22477] + 8.64sINFOros2_control_node[0m[INFO] [1780097843.895983964] Loading robot model 'ur5e'...[0m + 8.66sINFOros2_control_node[2026-05-29 23:37:23.924] [info] Controller state will be published at 10 Hz. + 8.67sINFOros2_control_node[2026-05-29 23:37:23.925] [info] VelocityForceController 'on_configure' succeeded. + 8.67sINFOros2_control_node[0m[INFO] [1780097843.927509182] Configuring controller 'joint_velocity_controller'[0m + 8.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 22479] + 10.69sINFOros2_control_node[0m[INFO] [1780097845.947073135] Loading robot model 'ur5e'...[0m + 10.72sINFOros2_control_node[2026-05-29 23:37:25.978] [info] Controller state will be published at 20 Hz. + 10.72sINFOros2_control_node[2026-05-29 23:37:25.980] [info] JointVelocityController 'on_configure' succeeded. + 10.72sINFOros2_control_node[0m[INFO] [1780097845.982333573] Configuring controller 'joint_trajectory_controller'[0m + 10.72sINFOros2_control_node[0m[INFO] [1780097845.982754053] Command interfaces are [position] and state interfaces are [position velocity].[0m + 10.72sINFOros2_control_node[0m[INFO] [1780097845.982891266] Using 'splines' interpolation method.[0m + 10.72sINFOros2_control_node[0m[INFO] [1780097845.984474384] Controller state will be published at 100.00 Hz.[0m + 10.73sINFOros2_control_node[0m[INFO] [1780097845.989492435] Action status changes will be monitored at 20.00 Hz.[0m + 10.74sINFOros2_control_node[0m[INFO] [1780097845.999601248] Configuring controller 'robotiq_gripper_controller'[0m + 10.74sINFOros2_control_node[0m[INFO] [1780097846.000844668] Action status changes will be monitored at 20.000000 Hz.[0m + 10.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[INFO] [1780097846.008769889] [92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 10.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[INFO] [1780097846.012004997] [92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[INFO] [1780097846.015226454] [92mConfigured and activated [1mjoint_trajectory_controller[0m + 10.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[INFO] [1780097846.023166575] [92mConfigured and activated [1mrobotiq_gripper_controller[0m + 11.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 22471] + 11.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 22483] + 11.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 22473] + 11.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 22475] + 11.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 22469] + 11.73sERRORmove_group[31m[ERROR] [1780097846.989760798] Could not find parameter robot_description and did not receive robot_description via std_msgs::msg::String subscription within 10.000000 seconds.[0m + 12.55sERRORwaypoint_manager_node[31m[ERROR] [1780097847.809579144] Could not find parameter robot_description and did not receive robot_description via std_msgs::msg::String subscription within 10.000000 seconds.[0m + 13.88sERRORobjective_server_node_main[31m[ERROR] [1780097849.143641951] Could not find parameter robot_description and did not receive robot_description via std_msgs::msg::String subscription within 10.000000 seconds.[0m + 14.16sINFOros2_control_node[0m[INFO] [1780097849.416579282] MuJoCo sim overruns (rolling 10 min window): 0.28% of iterations over budget over 0:10.002 of wall time (9/3198). Below 1% is expected on a non-realtime system.[0m + 21.81sINFOmove_groupError: Error document empty. + 21.81sINFOmove_groupat line 100 in ./urdf_parser/src/model.cpp + 21.81sINFOmove_groupFailed to parse robot description using: urdf_xml_parser/URDFXMLParser + 21.83sERRORmove_group[31m[ERROR] [1780097857.087756041] Robot model not loaded[0m + 21.83sERRORmove_group[31m[ERROR] [1780097857.088838797] Planning scene not configured[0m + 21.83sFATALmove_group[31m[FATAL] [1780097857.088891138] Unable to configure planning scene monitor[0m + 21.83sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' + 21.83sERRORmove_groupwhat(): Unable to configure planning scene monitor + 21.83sERRORmove_groupStack trace (most recent call last): + 21.83sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 21.83sINFOmove_group#11 Object "/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x55da1631fde4, in _start + 21.83sINFOmove_group#10 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7df6480e3f, in __libc_start_main + 21.83sINFOmove_group#9 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7df6480d8f, in + 21.83sINFOmove_group#8 Object "/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x55da1632014a, in main + 21.84sINFOmove_group#7 Object "/opt/overlay_ws/install/moveit_ros_planning/lib/libmoveit_cpp.so.9.4.0", at 0x7f7df6e176b7, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptr<rclcpp::Node> const&, moveit_cpp::MoveItCpp::Options const&) + 21.84sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f7df67504d7, in __cxa_throw + 21.84sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f7df6750276, in std::terminate() + 21.84sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f7df675020b, in + 21.84sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f7df6744b9d, in + 21.84sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7df647f7f2, in abort + 21.84sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7df6499475, in raise + 21.84sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7df64ed9fc, in pthread_kill + 21.84sERRORmove_groupAborted (Signal sent by tkill() 22486 0) + 21.85sERRORmove_group-9process has died [pid 22486, 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_taxkhd5b --params-file /tmp/launch_params_xhfy8lsd --params-file /tmp/launch_params_6m2r1pc6 --params-file /tmp/launch_params_2gmjtmj5 --params-file /tmp/launch_params_mljo_ol8 --params-file /tmp/launch_params_ga7h1kww --params-file /tmp/launch_params_akwcavg5 --params-file /tmp/launch_params_d77_0zd2 --params-file /tmp/launch_params_3epiz65x']. + 22.62sINFOwaypoint_manager_nodeError: Error document empty. + 22.62sINFOwaypoint_manager_nodeat line 100 in ./urdf_parser/src/model.cpp + 22.62sINFOwaypoint_manager_nodeFailed to parse robot description using: urdf_xml_parser/URDFXMLParser + 22.64sERRORwaypoint_manager_node[31m[ERROR] [1780097857.898335354] Robot model not loaded[0m + 22.64sERRORwaypoint_manager_nodeStack trace (most recent call last): + 22.65sINFOwaypoint_manager_node#6 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 22.65sINFOwaypoint_manager_node#5 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node", at 0x561b53da2d74, in _start + 22.65sINFOwaypoint_manager_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8168debe3f, in __libc_start_main + 22.65sINFOwaypoint_manager_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8168debd8f, in + 22.65sINFOwaypoint_manager_node#2 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node", at 0x561b53da2f3d, in main + 22.65sINFOwaypoint_manager_node#1 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node", at 0x561b53da4eeb, in moveit_studio::waypoint_manager::WaypointManagerNode::WaypointManagerNode(rclcpp::NodeOptions const&) + 22.65sINFOwaypoint_manager_node#0 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/waypoint_manager_node", at 0x561b53db1f91, in moveit_studio::waypoint_manager::WaypointManager::WaypointManager(std::shared_ptr<moveit_pro::base::RobotModel const> const&) + 22.65sERRORwaypoint_manager_nodeSegmentation fault (Address not mapped to object [0x40]) + 22.66sERRORwaypoint_manager_node-11process has died [pid 22530, 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_mjemr745 --params-file /tmp/launch_params_9f2bplns --params-file /tmp/launch_params_vpfa4gei --params-file /tmp/launch_params_6_82_gj9']. + 23.95sINFOobjective_server_node_mainError: Error document empty. + 23.95sINFOobjective_server_node_mainat line 100 in ./urdf_parser/src/model.cpp + 23.95sINFOobjective_server_node_mainFailed to parse robot description using: urdf_xml_parser/URDFXMLParser + 23.95sERRORobjective_server_node_mainterminate called after throwing an instance of 'std::runtime_error' + 23.95sERRORobjective_server_node_mainwhat(): Failed to load the RobotModel into the BehaviorContext. Can't continue. + 23.95sERRORobjective_server_node_mainStack trace (most recent call last): + 23.97sINFOobjective_server_node_main#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 23.97sINFOobjective_server_node_main#13 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b6809a24e4, in _start + 23.97sINFOobjective_server_node_main#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5fe79cfe3f, in __libc_start_main + 23.97sINFOobjective_server_node_main#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5fe79cfd8f, in + 23.97sINFOobjective_server_node_main#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b6809a26d0, in main + 23.97sINFOobjective_server_node_main#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/libobjective_server_node.so", at 0x7f5fe8098b29, in moveit_studio::objective_server::ObjectiveServerNode::ObjectiveServerNode(rclcpp::NodeOptions const&) + 23.97sINFOobjective_server_node_main#8 Object "/opt/overlay_ws/install/moveit_pro_behavior_interface/lib/libbehavior_context.so", at 0x7f5fe654d2ec, in moveit_pro::behaviors::BehaviorContext::BehaviorContext(std::shared_ptr<rclcpp::Node> const&, bool, bool) + 23.97sINFOobjective_server_node_main#7 Object "/opt/overlay_ws/install/moveit_pro_behavior_interface/lib/libbehavior_context.so", at 0x7f5fe654d774, 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) + 23.97sINFOobjective_server_node_main#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f5fe7c9d4d7, in __cxa_throw + 23.97sINFOobjective_server_node_main#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f5fe7c9d276, in std::terminate() + 23.97sINFOobjective_server_node_main#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f5fe7c9d20b, in + 23.97sINFOobjective_server_node_main#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f5fe7c91b9d, in + 23.97sINFOobjective_server_node_main#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5fe79ce7f2, in abort + 23.97sINFOobjective_server_node_main#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5fe79e8475, in raise + 23.97sINFOobjective_server_node_main#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5fe7a3c9fc, in pthread_kill + 23.97sERRORobjective_server_node_mainAborted (Signal sent by tkill() 22543 0) + 23.99sERRORobjective_server_node_main-14process has died [pid 22543, 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_swld04zk --params-file /tmp/launch_params_gs3j8p6j --params-file /tmp/launch_params_d31vqd8a --params-file /tmp/launch_params_m7werzpn --params-file /tmp/launch_params_jlnv45gv --params-file /tmp/launch_params_v0f0d5no']. + 23.99sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 68.15sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-05-29-23-38-22-630198-aa71c0dd80ce-23030
! error	—	reset_planning_scene.xml	0.0s	no logs
No ROS log lines in this test's time window.
! error	—	vector_subtrees_example.xml	0.0s	no logs
No ROS log lines in this test's time window.
− skipped	—	addtovector.xml	0.0s	2 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/2026-05-29-23-38-22-630198-aa71c0dd80ce-23030 + 0.00sINFOlaunchDefault logging verbosity is set to INFO
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	createvector.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	find_nearest_pose_in_path.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	request_teleoperation.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	teleoperate.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	skipped
No ROS log lines in this test's time window.

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

1 fail

! error	—	reset_mujoco_sim.xml	0.0s	no logs
No ROS log lines in this test's time window.

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	segment_image_from_point_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	skipped
No ROS log lines in this test's time window.

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	interpolate_to_joint_state.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	move_to_joint_state.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	move_to_pose.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	move_to_pose_jtc.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	move_to_waypoint.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	move_to_waypoint_jtc.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	record_teleop_trajectory.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	track_moving_frame.xml	0.0s	skipped
No ROS log lines in this test's time window.

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	skipped
No ROS log lines in this test's time window.

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	interactive_marker_visualization_example.xml	0.0s	skipped
No ROS log lines in this test's time window.
− skipped	—	visualize_tf.xml	0.0s	skipped
No ROS log lines in this test's time window.