118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
10.8s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 43.3s | 2 errors · 80 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Accepted new action goal + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Got request to cancel active goal. + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Canceling active goal... + 0.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780501118.13038063 seconds ×2 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.61sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780501118.69220591 seconds. ×2 + 1.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780501118.82245636 seconds ×2 + 1.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780501119.46005797 seconds. ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X______X] + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Accepted new action goal + 35.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures" + 35.20sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 35.70sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 35.70sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 38.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 38.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 38.43sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 38.73sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 38.73sINFOobjective_server_nodePath shortcutter: [X___________X] + 38.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 38.74sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution" + 38.74sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 38.75sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 38.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 38.81sINFOobjective_server_nodeFound path in 1 iterations (0.00282795 s). + 38.90sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 38.95sINFOros2_control_node[2026-06-03 15:39:16.470] [info] Received new action goal + 38.95sINFOros2_control_node[2026-06-03 15:39:16.470] [info] Accepted new action goal + 41.47sINFOros2_control_node[2026-06-03 15:39:18.993] [info] Received new action goal + 41.47sINFOros2_control_node[2026-06-03 15:39:18.993] [info] Accepted new action goal + 43.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 43.24sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Received new action goal + 43.24sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Accepted new action goal + 44.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780501162.15093517 seconds ×2 + 45.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780501162.74564338 seconds. ×2 + 45.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780501162.83578610 seconds ×2 + 45.31sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 45.31sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 45.87sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780501163.39911962 seconds. ×2 + 45.99sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 45.99sINFOobjective_server_nodePath shortcutter: [X_____________X] + 46.00sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Received new action goal + 46.00sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Accepted new action goal + 46.33sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 46.33sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 125 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.35sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780501219.66574311 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345032577 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345087788 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850683212 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850721633 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.976318821 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978959926 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978998557 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:40:21.322691997 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.03sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341747921 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.03sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341790572 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780501222.22134948 seconds ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780501222.96077871 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 4.04sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Received new action goal + 4.04sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Accepted new action goal + 6.88sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.89sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Received new action goal + 6.89sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Accepted new action goal + 10.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.09sINFOros2_control_node[2026-06-03 15:40:29.405] [info] Received new action goal + 10.09sINFOros2_control_node[2026-06-03 15:40:29.405] [info] Accepted new action goal + 10.28sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.53% of iterations over budget over 2:10.006 of wall time (210/39865). Below 1% is expected on a non-realtime system.[0m + 13.06sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 13.06sINFOobjective_server_nodePath shortcutter: [X_________________X] + 13.09sINFOros2_control_node[2026-06-03 15:40:32.408] [info] Received new action goal + 13.09sINFOros2_control_node[2026-06-03 15:40:32.408] [info] Accepted new action goal + 16.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 23.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 24.42sINFOros2_control_node[2026-06-03 15:40:43.738] [info] Received new action goal + 24.42sINFOros2_control_node[2026-06-03 15:40:43.738] [info] Accepted new action goal + 25.62sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×2 + 25.63sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×2 + 25.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 25.94sINFOros2_control_node[2026-06-03 15:40:45.253] [info] Received new action goal + 25.94sINFOros2_control_node[2026-06-03 15:40:45.253] [info] Accepted new action goal + 28.22sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 28.22sINFOobjective_server_nodePath shortcutter: [X__________X] + 28.25sINFOros2_control_node[2026-06-03 15:40:47.566] [info] Received new action goal + 28.25sINFOros2_control_node[2026-06-03 15:40:47.566] [info] Accepted new action goal + 31.29sINFOros2_control_node[2026-06-03 15:40:50.610] [info] Received new action goal + 31.29sINFOros2_control_node[2026-06-03 15:40:50.610] [info] Accepted new action goal + 33.87sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 33.88sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.93sINFOros2_control_node[2026-06-03 15:40:53.246] [info] Received new action goal + 33.93sINFOros2_control_node[2026-06-03 15:40:53.246] [info] Accepted new action goal + 44.65sINFOros2_control_node[2026-06-03 15:41:03.970] [info] Received new action goal + 44.65sINFOros2_control_node[2026-06-03 15:41:03.970] [info] Accepted new action goal + 45.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780501265.12623930 seconds ×2 + 46.56sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780501265.87824464 seconds. ×2 + 46.97sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 46.97sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 47.85sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 47.86sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 47.87sINFOros2_control_node[2026-06-03 15:41:07.183] [info] Received new action goal + 47.87sINFOros2_control_node[2026-06-03 15:41:07.183] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 38.0s | 2 errors · 8765 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780501276.86849833 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780501277.42929840 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X___X] + 0.75sINFOros2_control_node[2026-06-03 15:41:17.613] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-03 15:41:17.613] [info] Accepted new action goal + 1.00sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 1.00sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 2.01sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.02sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 5.01sINFOjoint_trajectory_controllerReceived new action goal ×2176 + 5.01sINFOjoint_trajectory_controllerAccepted new action goal ×2176 + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2176 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2176 + 9.08sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.18sINFOjoint_trajectory_controllerGoal reached, success! ×5 + 9.18sINFOros2_control_nodeGoal reached, success![0m ×5 + 12.73sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.66% of iterations over budget over 3:10.007 of wall time (381/58091). Below 1% is expected on a non-realtime system.[0m + 16.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/pcd_pointcloud_captures" + 16.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/pcd_pointcloud_captures"[0m + 16.70sINFOfoxglove_bridgeRemoving channel 69 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 16.71sINFOfoxglove_bridgeRemoving channel 69 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 16.79sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 37.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780501314.86179662 seconds ×2 + 38.65sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780501315.51920533 seconds. ×2 + 38.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 38.79sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 38.80sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 38.82sINFOros2_control_node[2026-06-03 15:41:55.685] [info] Received new action goal + 38.82sINFOros2_control_node[2026-06-03 15:41:55.685] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 34.2s | 720 errors · 7351 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1527 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1167 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1527 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1167 + 0.02sINFOjoint_trajectory_controllerGoal reached, success! ×958 + 0.02sINFOros2_control_nodeGoal reached, success![0m ×958 + 0.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.602936) + 0.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.602936)[0m + 0.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.622936) + 0.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.622936)[0m + 0.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.652936) + 0.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.652936)[0m + 0.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.682936) + 0.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.682936)[0m + 0.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.822936) + 0.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.832937) + 0.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.822936)[0m + 0.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.832937)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.852937) + 0.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.852937)[0m + 0.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.912936) + 0.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.912936)[0m + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.052937) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.052937)[0m + 0.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.082936) + 0.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.092937) + 0.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.082936)[0m + 0.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.092937)[0m + 0.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.182936) ×2 + 0.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.182936)[0m ×2 + 0.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.242936) + 0.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.242936)[0m + 0.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.262936) + 0.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.262936)[0m + 0.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.442936) + 0.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.442936)[0m + 0.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.462936) ×2 + 0.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.462936)[0m ×2 + 0.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.502936) + 0.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.502936)[0m + 0.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.522936) + 0.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.522936)[0m + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.612936) + 1.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.612936)[0m + 1.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.662936) + 1.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.662936)[0m + 1.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.772936) + 1.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.772936)[0m + 1.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.792937) + 1.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.792937)[0m + 1.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.902936) + 1.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.902936)[0m + 1.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.922936) + 1.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.922936)[0m + 1.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.942936) + 1.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.952936) + 1.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.942936)[0m + 1.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.952936)[0m + 1.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.982936) + 1.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.982936)[0m + 1.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.072937) ×2 + 1.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.072937)[0m ×2 + 1.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.122936) + 1.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.132936) + 1.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.122936)[0m + 1.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.132936)[0m + 1.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.302936) ×2 + 1.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.302936)[0m ×2 + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.322936) + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.322936)[0m + 1.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.342936) + 1.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.342936)[0m + 2.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.582936) + 2.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.582936)[0m + 2.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.672936) + 2.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.672936)[0m + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.712936) + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.712936)[0m + 2.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.742936) + 2.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.742936)[0m + 2.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.752936) + 2.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.752936)[0m + 2.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.792937) + 2.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.792937)[0m + 2.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.842936) + 2.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.842936)[0m + 2.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.942936) + 2.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.942936)[0m + 2.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.962936) + 2.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.962936)[0m + 2.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.992936) ×2 + 2.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.992936)[0m ×2 + 2.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.012936) + 2.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.012936)[0m + 2.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.102936) + 2.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.102936)[0m + 2.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.122936) + 2.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.122936)[0m + 2.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.152936) + 2.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.152936)[0m + 2.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.282936) ×2 + 2.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.282936)[0m ×2 + 2.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.452936) + 2.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.452936)[0m + 2.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.472936) + 2.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.472936)[0m + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780501339.56885171 seconds ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.572937) + 3.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.572937)[0m + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.592937) + 3.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.592937)[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.642936) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.642936)[0m + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780501340.15997338 seconds. ×2 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.79sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.81sINFOros2_control_node[2026-06-03 15:42:20.355] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-03 15:42:20.355] [info] Accepted new action goal + 3.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 3.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m + 9.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 9.73sINFOros2_control_node[2026-06-03 15:42:26.272] [info] Received new action goal + 9.73sINFOros2_control_node[2026-06-03 15:42:26.272] [info] Accepted new action goal + 12.14sINFOros2_control_node[2026-06-03 15:42:28.684] [info] Received new action goal + 12.14sINFOros2_control_node[2026-06-03 15:42:28.684] [info] Accepted new action goal + 13.05sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.75% of iterations over budget over 4:10.009 of wall time (570/76305). Below 1% is expected on a non-realtime system.[0m + 17.08sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 17.08sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m + 17.15sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 17.21sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 17.58sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 17.58sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 20.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501356.801597) + 20.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501356.801597)[0m + 20.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501356.891597) + 20.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501356.901597) + 20.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501356.891597)[0m + 20.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501356.901597)[0m + 20.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.111597) ×2 + 20.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.111597)[0m ×2 + 20.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.121597) + 20.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.131597) + 20.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.121597)[0m + 20.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.131597)[0m + 20.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.141597) + 20.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.151597) + 20.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.141597)[0m + 20.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.151597)[0m + 20.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.331597) + 20.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.331597)[0m + 20.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.501597) + 20.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.501597)[0m + 20.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.521597) + 20.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.521597)[0m + 21.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.561597) + 21.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.571597) + 21.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.561597)[0m + 21.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.571597)[0m + 21.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.741597) + 21.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.741597)[0m + 21.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.771597) + 21.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.771597)[0m + 21.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.851597) + 21.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.851597)[0m + 21.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.871597) + 21.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.871597)[0m + 21.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.901597) + 21.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.901597)[0m + 21.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.921597) ×2 + 21.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501357.921597)[0m ×2 + 21.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.001597) + 21.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.001597)[0m + 21.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.211597) + 21.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.221597) + 21.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.211597)[0m + 21.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.221597)[0m + 21.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.291597) + 21.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.291597)[0m + 21.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.311597) + 21.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.311597)[0m + 22.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.531597) ×2 + 22.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.541597) + 22.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.531597)[0m ×2 + 22.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.541597)[0m + 22.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.561597) ×2 + 22.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.561597)[0m ×2 + 22.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.701597) + 22.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.701597)[0m + 22.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.941597) + 22.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.941597)[0m + 22.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.961597) ×2 + 22.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501358.961597)[0m ×2 + 22.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.011597) + 22.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.011597)[0m + 22.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.061597) + 22.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.061597)[0m + 22.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.141597) + 22.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.141597)[0m + 22.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.171597) + 22.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.171597)[0m + 22.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.201597) + 22.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.201597)[0m + 22.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.221597) + 22.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.221597)[0m + 22.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.301597) + 22.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.311597) + 22.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.301597)[0m + 22.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.311597)[0m + 22.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.341597) + 22.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.341597)[0m + 22.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.361597) + 22.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.361597)[0m + 22.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.371597) + 22.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.371597)[0m + 22.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.461597) + 22.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.461597)[0m + 23.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.621597) + 23.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.621597)[0m + 23.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.631597) + 23.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.631597)[0m + 23.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.651597) + 23.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.651597)[0m + 23.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.731597) ×2 + 23.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.731597)[0m ×2 + 23.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.751597) + 23.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.751597)[0m + 23.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.821597) + 23.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.821597)[0m + 23.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.981597) ×2 + 23.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.991597) + 23.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.981597)[0m ×2 + 23.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501359.991597)[0m + 23.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.051597) + 23.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.061597) + 23.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.051597)[0m + 23.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.061597)[0m + 23.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.211597) + 23.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.211597)[0m + 23.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.351597) + 23.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.351597)[0m + 23.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.371597) ×2 + 23.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.371597)[0m ×2 + 23.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.401597) + 23.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.401597)[0m + 23.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.441597) + 23.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.441597)[0m + 24.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.641597) + 24.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.641597)[0m + 24.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.731597) + 24.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.741597) + 24.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.751597) + 24.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.731597)[0m + 24.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.741597)[0m + 24.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.751597)[0m + 24.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.781597) + 24.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.781597)[0m + 24.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.801597) + 24.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.801597)[0m + 24.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.811597) + 24.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.811597)[0m + 24.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.891597) + 24.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501360.891597)[0m + 24.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.021597) + 24.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.021597)[0m + 24.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.071597) + 24.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.071597)[0m + 24.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.211597) + 24.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.211597)[0m + 24.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.241597) + 24.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.241597)[0m + 24.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.261597) + 24.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.261597)[0m + 24.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.281597) + 24.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.281597)[0m + 24.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.431597) + 24.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.431597)[0m + 24.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.451597) + 24.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.451597)[0m + 24.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.461597) + 24.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.461597)[0m + 24.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.471597) + 24.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.481597) + 24.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.471597)[0m + 24.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.481597)[0m + 25.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.611597) + 25.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.611597)[0m + 25.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.631597) ×2 + 25.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.631597)[0m ×2 + 25.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.661597) ×2 + 25.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.661597)[0m ×2 + 25.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.851597) + 25.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501361.851597)[0m + 25.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.091597) + 25.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.091597)[0m + 25.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.111597) + 25.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.111597)[0m + 25.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.191597) + 25.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.191597)[0m + 25.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.211597) + 25.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.211597)[0m + 25.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.241597) + 25.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.241597)[0m + 25.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.261597) + 25.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.261597)[0m + 25.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.291597) + 25.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.291597)[0m + 26.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.541597) + 26.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.541597)[0m + 26.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.571597) + 26.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.571597)[0m + 26.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.661597) + 26.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.671597) + 26.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.661597)[0m + 26.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.671597)[0m + 26.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.691597) + 26.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.691597)[0m + 26.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.701597) + 26.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.701597)[0m + 26.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.891597) + 26.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.901597) + 26.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.891597)[0m + 26.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.901597)[0m + 26.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.911597) + 26.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.921597) + 26.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.911597)[0m + 26.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.921597)[0m + 26.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.981597) + 26.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501362.981597)[0m + 26.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.121597) + 26.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.121597)[0m + 26.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.331597) + 26.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.331597)[0m + 26.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.351597) + 26.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.351597)[0m + 26.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.511597) + 26.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.511597)[0m + 26.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.521597) + 26.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.521597)[0m + 27.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.551597) ×2 + 27.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.551597)[0m ×2 + 27.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.641597) + 27.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.651597) + 27.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.641597)[0m + 27.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.651597)[0m + 27.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.671597) + 27.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.671597)[0m + 27.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.701597) + 27.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.711597) + 27.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.701597)[0m + 27.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.711597)[0m + 27.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.781597) + 27.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.781597)[0m + 27.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.991597) + 27.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501363.991597)[0m + 27.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.081597) + 27.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.081597)[0m + 27.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.101597) ×2 + 27.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.101597)[0m ×2 + 27.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.141597) + 27.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.141597)[0m + 27.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.321597) + 27.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.321597)[0m + 27.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.331597) + 27.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.341597) + 27.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.331597)[0m + 27.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.351597) + 27.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.341597)[0m + 27.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.351597)[0m + 27.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.401597) + 27.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.401597)[0m + 27.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.521597) ×2 + 27.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.521597)[0m ×2 + 27.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.541597) + 28.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.541597)[0m + 28.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.661597) + 28.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.661597)[0m + 28.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.741597) + 28.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.741597)[0m + 28.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.761597) + 28.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.761597)[0m + 28.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.811597) + 28.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.811597)[0m + 28.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.971597) + 28.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.971597)[0m + 28.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.991597) + 28.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501364.991597)[0m + 28.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.101597) + 28.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.101597)[0m + 28.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.121597) + 28.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.131597) + 28.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.121597)[0m + 28.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.131597)[0m + 28.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.151597) + 28.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.161597) + 28.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.151597)[0m + 28.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.161597)[0m + 28.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.261597) + 28.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.261597)[0m + 28.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.381597) + 28.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.381597)[0m + 28.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.421597) + 28.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.421597)[0m + 28.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.451597) + 28.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.451597)[0m + 28.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.461597) + 28.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.461597)[0m + 29.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.601597) + 29.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.611597) + 29.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.601597)[0m + 29.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.611597)[0m + 29.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.631597) + 29.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.631597)[0m + 29.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.641597) + 29.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.641597)[0m + 29.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.791597) + 29.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.801597) + 29.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.811597) + 29.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.791597)[0m + 29.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.801597)[0m + 29.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.811597)[0m + 29.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.821597) ×2 + 29.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.821597)[0m ×2 + 29.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.831597) + 29.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.831597)[0m + 29.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.991597) + 29.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501365.991597)[0m + 29.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.021597) + 29.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.021597)[0m + 29.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.041597) ×2 + 29.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.041597)[0m ×2 + 29.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.131597) + 29.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.131597)[0m + 29.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.151597) + 29.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.151597)[0m + 29.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.191597) + 29.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.191597)[0m + 29.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.201597) + 29.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.211597) + 29.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.201597)[0m + 29.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.211597)[0m + 29.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.231597) + 29.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.231597)[0m + 29.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.271597) + 29.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.271597)[0m + 29.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.341597) + 29.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.341597)[0m + 29.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.421597) + 29.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.421597)[0m + 29.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.451597) + 29.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.451597)[0m + 29.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.461597) + 29.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.471597) + 29.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.461597)[0m + 29.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.471597)[0m + 29.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.531597) + 29.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.531597)[0m + 30.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.551597) + 30.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.551597)[0m + 30.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.571597) + 30.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.571597)[0m + 30.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.591597) + 30.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.591597)[0m + 30.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.611597) + 30.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.611597)[0m + 30.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.701597) + 30.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.701597)[0m + 30.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.721597) + 30.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.721597)[0m + 30.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.741597) + 30.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.741597)[0m + 30.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.751597) + 30.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.751597)[0m + 30.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.871597) + 30.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.871597)[0m + 30.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.891597) + 30.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.891597)[0m + 30.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.911597) + 30.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.911597)[0m + 30.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.931597) + 30.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.931597)[0m + 30.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.941597) + 30.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501366.941597)[0m + 30.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.061597) + 30.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.061597)[0m + 30.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.091597) ×2 + 30.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.091597)[0m ×2 + 30.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.111597) + 30.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.111597)[0m + 30.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.271597) + 30.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.281597) ×2 + 30.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.271597)[0m + 30.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.281597)[0m ×2 + 30.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.301597) + 30.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.311597) + 30.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.301597)[0m + 30.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.311597)[0m + 30.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.361597) + 30.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.361597)[0m + 31.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.751597) + 31.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.751597)[0m + 31.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.811597) + 31.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.811597)[0m + 31.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.831597) + 31.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.831597)[0m + 31.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.951597) + 31.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.951597)[0m + 31.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.991597) + 31.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.001597) + 31.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501367.991597)[0m + 31.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.001597)[0m + 31.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.081597) + 31.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.091597) ×2 + 31.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.081597)[0m + 31.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.091597)[0m ×2 + 31.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.121597) + 31.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.121597)[0m + 31.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.131597) + 31.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.131597)[0m + 31.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.151597) + 31.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.151597)[0m + 31.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.221597) + 31.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.221597)[0m + 31.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.241597) + 31.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.241597)[0m + 31.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.271597) + 31.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.271597)[0m + 31.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.391597) + 31.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.391597)[0m + 31.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.411597) + 31.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.411597)[0m + 31.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.431597) + 31.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.431597)[0m + 32.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.561597) + 32.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.561597)[0m + 32.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.581597) + 32.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.581597)[0m + 32.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.611597) + 32.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.611597)[0m + 32.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.631597) ×2 + 32.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.631597)[0m ×2 + 32.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.791597) ×2 + 32.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.801597) + 32.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.791597)[0m ×2 + 32.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.801597)[0m + 32.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.821597) ×2 + 32.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.821597)[0m ×2 + 32.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.861597) + 32.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501368.861597)[0m + 32.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.041597) ×2 + 32.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.041597)[0m ×2 + 32.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.211597) + 32.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.211597)[0m + 32.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.231597) + 32.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.231597)[0m + 33.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.551597) + 33.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.551597)[0m + 33.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.571597) ×2 + 33.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.581597) + 33.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.571597)[0m ×2 + 33.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.581597)[0m + 33.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.601597) + 33.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.601597)[0m + 33.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.621597) + 33.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.621597)[0m + 33.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.701597) + 33.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.701597)[0m + 33.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.721597) + 33.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.721597)[0m + 33.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.761597) + 33.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.761597)[0m + 33.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.901597) + 33.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.901597)[0m + 33.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.941597) + 33.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501369.941597)[0m + 33.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.041597) + 33.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.041597)[0m + 33.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.061597) + 33.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.061597)[0m + 33.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.101597) + 33.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.101597)[0m + 33.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.251597) + 33.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.261597) ×2 + 33.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.251597)[0m + 33.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.261597)[0m ×2 + 33.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.281597) ×2 + 33.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.281597)[0m ×2 + 33.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.341597) + 33.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.341597)[0m + 34.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.611597) + 34.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.611597)[0m + 34.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.701597) + 34.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.701597)[0m + 34.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.741597) + 34.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.741597)[0m + 34.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.941597) + 34.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.941597)[0m + 34.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.021597) + 34.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.021597)[0m + 34.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.031597) + 34.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.031597)[0m + 34.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.051597) + 34.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.051597)[0m + 34.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.071597) + 34.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.071597)[0m + 34.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.091597) ×2 + 34.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.091597)[0m ×2 + 34.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.161597) + 34.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.161597)[0m + 34.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.181597) + 34.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.181597)[0m + 34.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.201597) + 34.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.201597)[0m + 34.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.221597) + 34.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.221597)[0m + 34.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.391597) + 34.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.391597)[0m + 34.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.531597) + 35.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.531597)[0m + 35.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.591597) + 35.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.591597)[0m + 35.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.731597) ×2 + 35.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.731597)[0m ×2 + 35.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.751597) + 35.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.761597) ×2 + 35.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.751597)[0m + 35.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.761597)[0m ×2 + 35.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.811597) + 35.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.811597)[0m + 35.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.991597) + 35.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.991597)[0m + 35.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.091597) + 35.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.091597)[0m + 35.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.511597) ×2 + 35.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.511597)[0m ×2 + 36.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.531597) + 36.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.541597) + 36.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.531597)[0m + 36.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.541597)[0m + 36.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.561597) + 36.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.561597)[0m + 36.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.581597) + 36.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.581597)[0m + 36.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.681597) + 36.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.681597)[0m + 36.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.001597) + 36.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.011597) + 36.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.001597)[0m + 36.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.011597)[0m + 36.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.051597) + 36.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.051597)[0m + 36.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.071597) + 36.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.071597)[0m + 36.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.211597) + 36.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.211597)[0m + 36.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.221597) ×2 + 36.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.221597)[0m ×2 + 36.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.231597) + 36.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.231597)[0m + 36.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.251597) ×2 + 36.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.251597)[0m ×2 + 36.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.291597) + 36.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.291597)[0m + 37.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.721597) + 37.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.731597) + 37.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.721597)[0m + 37.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.731597)[0m + 37.20sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780501373.75046539 seconds ×2 + 37.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.771597) + 37.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.781597) + 37.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.771597)[0m + 37.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.781597)[0m + 37.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.821597) + 37.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.821597)[0m + 37.84sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780501374.39123559 seconds. ×2 + 37.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 37.85sINFOros2_control_nodeReceived & accepted new action goal[0m + 38.32sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 38.32sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 39.03sINFOobjective_server_nodeFound path in 6 iterations (0.00717897 s). + 39.11sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 39.13sINFOros2_control_node[2026-06-03 15:42:55.677] [info] Received new action goal + 39.13sINFOros2_control_node[2026-06-03 15:42:55.677] [info] Accepted new action goal | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.2s | 92 errors · 1103 info |
+ 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×159 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×205 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×159 + 0.01sINFOjoint_trajectory_controllerGoal reached, success! ×138 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×138 + 0.02sINFOjoint_trajectory_controllerReceived new action goal ×204 + 0.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.741597) + 0.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.741597)[0m + 0.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.941597) + 0.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.941597)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.021597) + 0.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.021597)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.031597) + 0.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.031597)[0m + 0.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.051597) + 0.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.051597)[0m + 0.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.071597) + 0.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.071597)[0m + 0.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.091597) ×2 + 0.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.091597)[0m ×2 + 0.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.161597) + 0.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.161597)[0m + 0.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.181597) + 0.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.181597)[0m + 0.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.201597) + 0.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.201597)[0m + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.221597) + 0.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.221597)[0m + 0.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.391597) + 0.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.391597)[0m + 0.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.531597) + 0.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.531597)[0m + 0.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.591597) + 0.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.591597)[0m + 1.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.731597) ×2 + 1.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.731597)[0m ×2 + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.751597) + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.761597) ×2 + 1.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.751597)[0m + 1.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.761597)[0m ×2 + 1.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.811597) + 1.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.811597)[0m + 1.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.991597) + 1.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.991597)[0m + 1.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.091597) + 1.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.091597)[0m + 1.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.511597) ×2 + 1.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.511597)[0m ×2 + 1.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.531597) + 1.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.541597) + 1.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.531597)[0m + 1.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.541597)[0m + 1.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.561597) + 1.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.561597)[0m + 1.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.581597) + 1.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.581597)[0m + 1.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.681597) + 1.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.681597)[0m + 2.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.001597) + 2.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.011597) + 2.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.001597)[0m + 2.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.011597)[0m + 2.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.051597) + 2.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.051597)[0m + 2.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.071597) + 2.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.071597)[0m + 2.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.211597) + 2.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.211597)[0m + 2.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.221597) ×2 + 2.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.221597)[0m ×2 + 2.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.231597) + 2.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.231597)[0m + 2.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.251597) ×2 + 2.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.251597)[0m ×2 + 2.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.291597) + 2.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.291597)[0m + 3.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.721597) + 3.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.731597) + 3.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.721597)[0m + 3.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.731597)[0m + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780501373.75046539 seconds ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.771597) + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.781597) + 3.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.771597)[0m + 3.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.781597)[0m + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.821597) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.821597)[0m + 3.66sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780501374.39123559 seconds. ×2 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.14sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.14sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.85sINFOobjective_server_nodeFound path in 6 iterations (0.00717897 s). + 4.93sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.95sINFOros2_control_node[2026-06-03 15:42:55.677] [info] Received new action goal + 4.95sINFOros2_control_node[2026-06-03 15:42:55.677] [info] Accepted new action goal + 14.91sINFOobjective_server_node[0;m[0;93m2026-06-03 15:43:05.632811385 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.91sINFOobjective_server_node[0;93m2026-06-03 15:43:05.632849056 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.43sINFOobjective_server_node[0;93m2026-06-03 15:43:06.154316343 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 15.43sINFOobjective_server_node[0;93m2026-06-03 15:43:06.154354974 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.56sINFOobjective_server_node[0;93m2026-06-03 15:43:06.274038253 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 15.56sINFOobjective_server_node[0;93m2026-06-03 15:43:06.277250841 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 15.56sINFOobjective_server_node[0;93m2026-06-03 15:43:06.277275962 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.90sINFOobjective_server_node[0;93m2026-06-03 15:43:06.626221811 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 15.92sINFOobjective_server_node[0;93m2026-06-03 15:43:06.646873574 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 15.92sINFOobjective_server_node[0;93m2026-06-03 15:43:06.646928716 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 16.73sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization" + 16.73sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/masks_visualization"[0m + 16.86sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 19.47sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 19.75sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution" + 19.75sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution"[0m + 19.82sINFOobjective_server_nodeFound path in 4 iterations (0.00306162 s). + 19.89sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 19.92sINFOobjective_server_nodeFound path in 12 iterations (0.00420809 s). + 19.98sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 20.01sINFOobjective_server_nodeFound path in 1 iterations (0.00291139 s). + 20.06sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] + 20.08sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). + 20.11sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 20.12sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 20.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 20.17sINFOobjective_server_nodeFound path in 12 iterations (0.0047968 s). + 20.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] + 20.27sINFOobjective_server_nodeFound path in 2 iterations (0.0154821 s). + 20.32sINFOobjective_server_nodePath shortcutter: [X_____________________________X____________________X] + 20.34sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 20.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 20.39sINFOobjective_server_nodeFound path in 4 iterations (0.00433399 s). + 20.47sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 20.49sINFOobjective_server_nodeFound path in 4 iterations (0.00267181 s). + 20.58sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] + 20.61sINFOobjective_server_nodeFound path in 1 iterations (0.00555561 s). + 20.68sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] + 20.71sINFOobjective_server_nodeFound path in 1 iterations (0.00319092 s). + 20.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] + 20.79sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 20.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 20.85sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 20.91sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] + 21.02sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 21.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 21.07sINFOros2_control_node[2026-06-03 15:43:11.793] [info] Received new action goal + 21.07sINFOros2_control_node[2026-06-03 15:43:11.793] [info] Accepted new action goal + 26.08sINFOros2_control_node[2026-06-03 15:43:16.809] [info] Received new action goal + 26.08sINFOros2_control_node[2026-06-03 15:43:16.809] [info] Accepted new action goal + 27.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 27.67sINFOros2_control_node[2026-06-03 15:43:18.398] [info] Received new action goal + 27.67sINFOros2_control_node[2026-06-03 15:43:18.398] [info] Accepted new action goal + 28.88sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 28.93sINFOros2_control_node[2026-06-03 15:43:19.651] [info] Received new action goal + 28.93sINFOros2_control_node[2026-06-03 15:43:19.651] [info] Accepted new action goal + 34.18sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780501404.90505552 seconds ×2 + 34.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780501405.60067010 seconds. ×2 + 34.92sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 34.92sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 34.92sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 34.93sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 34.93sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 34.93sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 35.07sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 35.07sINFOobjective_server_nodePath shortcutter: [X______X] + 35.10sINFOros2_control_node[2026-06-03 15:43:25.820] [info] Received new action goal + 35.10sINFOros2_control_node[2026-06-03 15:43:25.820] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 24.7s | 352 errors · 7849 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1769 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1593 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1769 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1593 + 3.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780501314.86179662 seconds ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! ×547 + 3.52sINFOros2_control_nodeGoal reached, success![0m ×547 + 3.67sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780501315.51920533 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.83sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.84sINFOros2_control_node[2026-06-03 15:41:55.685] [info] Received new action goal + 3.84sINFOros2_control_node[2026-06-03 15:41:55.685] [info] Accepted new action goal + 7.64sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.69sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 7.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 15.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501327.642936) + 15.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501327.642936)[0m + 15.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501327.702936) + 15.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501327.702936)[0m + 16.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501327.892936) + 16.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501327.892936)[0m + 16.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501327.912936) + 16.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501327.912936)[0m + 16.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501327.922936) + 16.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501327.922936)[0m + 16.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501327.932936) ×2 + 16.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501327.932936)[0m ×2 + 16.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501328.312937) + 16.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501328.312937)[0m + 16.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501328.542936) + 16.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501328.542936)[0m + 16.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501328.572937) + 16.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501328.572937)[0m + 16.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501328.672936) + 16.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501328.672936)[0m + 16.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501328.732936) + 16.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501328.732936)[0m + 17.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.302936) + 17.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.302936)[0m + 17.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.332937) + 17.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.342936) + 17.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.352937) + 17.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.332937)[0m + 17.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.362936) + 17.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.342936)[0m + 17.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.352937)[0m + 17.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.362936)[0m + 17.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.712936) + 17.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.712936)[0m + 17.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.752936) + 17.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.752936)[0m + 17.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.782936) ×2 + 17.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501329.782936)[0m ×2 + 18.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.022936) + 18.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.022936)[0m + 18.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.142936) + 18.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.142936)[0m + 18.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.602936) + 18.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.602936)[0m + 18.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.622936) + 18.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.622936)[0m + 18.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.682936) + 18.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.682936)[0m + 18.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.822936) + 18.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.822936)[0m + 19.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.832937) + 19.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.842936) + 19.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.832937)[0m + 19.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.842936)[0m + 19.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.872936) + 19.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.872936)[0m + 19.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.912936) + 19.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501330.912936)[0m + 19.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.112936) + 19.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.112936)[0m + 19.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.272936) + 19.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.272936)[0m + 19.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.402936) + 19.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.402936)[0m + 19.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.462936) + 19.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.472936) + 19.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.462936)[0m + 19.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.472936)[0m + 19.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.532936) + 19.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.532936)[0m + 19.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.612936) + 19.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.612936)[0m + 19.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.662936) + 19.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.672936) + 19.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.662936)[0m + 19.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.672936)[0m + 20.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.902936) + 20.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.902936)[0m + 20.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.962936) + 20.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.962936)[0m + 20.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.992936) + 20.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501331.992936)[0m + 20.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.082936) + 20.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.082936)[0m + 20.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.102936) + 20.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.102936)[0m + 20.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.132936) + 20.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.132936)[0m + 20.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.322936) + 20.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.322936)[0m + 20.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.332937) + 20.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.342936) + 20.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.332937)[0m + 20.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.352937) + 20.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.342936)[0m + 20.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.352937)[0m + 20.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.582936) + 20.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.582936)[0m + 20.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.602936) + 20.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.602936)[0m + 20.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.722936) + 20.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.722936)[0m + 20.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.812937) + 20.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.812937)[0m + 21.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.862936) + 21.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.862936)[0m + 21.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.982936) + 21.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501332.982936)[0m + 21.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.002936) + 21.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.002936)[0m + 21.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.012936) + 21.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.012936)[0m + 21.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.042936) + 21.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.042936)[0m + 21.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.072937) + 21.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.072937)[0m + 21.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.152936) + 21.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.152936)[0m + 21.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.162936) + 21.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.162936)[0m + 21.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.472936) + 21.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.472936)[0m + 21.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.512936) ×2 + 21.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.512936)[0m ×2 + 21.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.632936) + 21.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.632936)[0m + 21.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.682936) + 21.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.682936)[0m + 21.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.812937) + 21.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.812937)[0m + 21.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.832937) + 22.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.832937)[0m + 22.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.852937) ×2 + 22.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.852937)[0m ×2 + 22.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.872936) + 22.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501333.872936)[0m + 22.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.092937) + 22.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.092937)[0m + 22.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.112936) + 22.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.112936)[0m + 22.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.192936) + 22.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.202936) + 22.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.192936)[0m + 22.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.202936)[0m + 22.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.272936) + 22.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.272936)[0m + 22.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.282936) + 22.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.282936)[0m + 22.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.452936) + 22.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.452936)[0m + 22.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.482936) + 22.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.482936)[0m + 22.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.512936) ×2 + 22.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.512936)[0m ×2 + 22.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.532936) + 22.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.532936)[0m + 22.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.602936) + 22.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.602936)[0m + 22.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.612936) + 22.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.612936)[0m + 22.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.632936) + 22.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.632936)[0m + 22.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.672936) + 22.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.672936)[0m + 22.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.812937) + 22.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.812937)[0m + 23.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.912936) + 23.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.912936)[0m + 23.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.962936) + 23.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.962936)[0m + 23.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.982936) + 23.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.992936) + 23.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.982936)[0m + 23.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501334.992936)[0m + 23.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.112936) + 23.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.112936)[0m + 23.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.132936) + 23.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.132936)[0m + 23.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.162936) ×2 + 23.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.162936)[0m ×2 + 23.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.312937) ×2 + 23.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.312937)[0m ×2 + 23.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.332937) + 23.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.342936) + 23.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.332937)[0m + 23.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.342936)[0m + 23.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.352937) + 23.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.352937)[0m + 23.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.682936) + 23.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.682936)[0m + 23.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.752936) + 23.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.752936)[0m + 23.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.772936) + 23.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.772936)[0m + 24.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.942936) + 24.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.952936) + 24.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.942936)[0m + 24.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.952936)[0m + 24.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.992936) + 24.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501335.992936)[0m + 24.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.022936) + 24.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.022936)[0m + 24.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.112936) + 24.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.112936)[0m + 24.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.142936) + 24.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.142936)[0m + 24.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.262936) ×2 + 24.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.262936)[0m ×2 + 24.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.292937) + 24.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.292937)[0m + 24.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.332937) + 24.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.332937)[0m + 24.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.472936) + 24.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.472936)[0m + 24.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.502936) + 24.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.512936) + 24.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.502936)[0m + 24.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.512936)[0m + 24.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.602936) + 24.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.602936)[0m + 24.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.622936) + 24.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.622936)[0m + 24.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.652936) + 24.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.652936)[0m + 24.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.682936) + 24.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.682936)[0m + 24.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.822936) + 24.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.832937) + 24.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.822936)[0m + 24.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.832937)[0m + 25.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.852937) + 25.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.852937)[0m + 25.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.912936) + 25.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.912936)[0m + 25.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.052937) + 25.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.052937)[0m + 25.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.082936) + 25.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.092937) + 25.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.082936)[0m + 25.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.092937)[0m + 25.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.182936) ×2 + 25.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.182936)[0m ×2 + 25.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.242936) + 25.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.242936)[0m + 25.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.262936) + 25.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.262936)[0m + 25.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.442936) + 25.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.442936)[0m + 25.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.462936) ×2 + 25.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.462936)[0m ×2 + 25.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.502936) + 25.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.502936)[0m + 25.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.522936) + 25.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.522936)[0m + 25.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.612936) + 25.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.612936)[0m + 25.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.662936) + 25.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.662936)[0m + 25.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.772936) + 25.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.772936)[0m + 25.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.792937) + 25.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.792937)[0m + 26.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.902936) + 26.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.902936)[0m + 26.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.922936) + 26.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.922936)[0m + 26.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.942936) + 26.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.952936) + 26.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.942936)[0m + 26.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.952936)[0m + 26.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.982936) + 26.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.982936)[0m + 26.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.072937) ×2 + 26.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.072937)[0m ×2 + 26.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.122936) + 26.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.132936) + 26.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.122936)[0m + 26.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.132936)[0m + 26.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.302936) ×2 + 26.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.302936)[0m ×2 + 26.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.322936) + 26.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.322936)[0m + 26.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.342936) + 26.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.342936)[0m + 26.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.582936) + 26.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.582936)[0m + 26.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.672936) + 26.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.672936)[0m + 26.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.712936) + 26.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.712936)[0m + 26.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.742936) + 26.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.742936)[0m + 26.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.752936) + 26.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.752936)[0m + 26.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.792937) + 26.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.792937)[0m + 27.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.842936) + 27.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.842936)[0m + 27.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.942936) + 27.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.942936)[0m + 27.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.962936) + 27.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.962936)[0m + 27.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.992936) ×2 + 27.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.992936)[0m ×2 + 27.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.012936) + 27.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.012936)[0m + 27.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.102936) + 27.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.102936)[0m + 27.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.122936) + 27.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.122936)[0m + 27.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.152936) + 27.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.152936)[0m + 27.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.282936) ×2 + 27.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.282936)[0m ×2 + 27.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.452936) + 27.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.452936)[0m + 27.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.472936) + 27.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.472936)[0m + 27.72sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780501339.56885171 seconds ×2 + 27.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.572937) + 27.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.572937)[0m + 27.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.592937) + 27.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.592937)[0m + 27.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.642936) + 27.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.642936)[0m + 28.31sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780501340.15997338 seconds. ×2 + 28.48sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 28.51sINFOros2_control_node[2026-06-03 15:42:20.355] [info] Received new action goal + 28.51sINFOros2_control_node[2026-06-03 15:42:20.355] [info] Accepted new action goal + 28.69sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 28.69sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.8s | 2 errors · 61 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.08sINFOobjective_server_nodeFound path in 1 iterations (0.00265655 s). + 0.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.24sINFOros2_control_node[2026-06-03 15:39:55.150] [info] Received new action goal + 0.24sINFOros2_control_node[2026-06-03 15:39:55.150] [info] Accepted new action goal + 0.69sINFOros2_control_node[2026-06-03 15:39:55.592] [info] Received new action goal + 0.69sINFOros2_control_node[2026-06-03 15:39:55.592] [info] Accepted new action goal + 0.71sINFOros2_control_node[2026-06-03 15:39:55.619] [info] Got request to cancel active goal. + 0.71sINFOros2_control_node[2026-06-03 15:39:55.619] [info] Canceling active goal... + 0.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780501195.62368202 seconds ×2 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780501196.23248148 seconds. ×2 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 1.54sINFOros2_control_node[2026-06-03 15:39:56.443] [info] Received new action goal + 1.54sINFOros2_control_node[2026-06-03 15:39:56.443] [info] Accepted new action goal + 1.74sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.74sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.74sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.74sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.97sINFOros2_control_node[2026-06-03 15:39:58.878] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-03 15:39:58.878] [info] Accepted new action goal + 12.53sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780501207.44081664 seconds ×2 + 13.17sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780501208.08076811 seconds. ×2 + 13.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 13.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 13.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780501208.16091371 seconds ×2 + 13.83sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780501208.73394012 seconds. ×2 + 13.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 13.95sINFOobjective_server_nodePath shortcutter: [X______X] + 13.96sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Received new action goal + 13.96sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Accepted new action goal + 15.97sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780501210.87409616 seconds ×2 + 16.55sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780501211.45689702 seconds. ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 51 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.94sINFOros2_control_node[2026-06-03 15:41:03.970] [info] Received new action goal + 0.94sINFOros2_control_node[2026-06-03 15:41:03.970] [info] Accepted new action goal + 2.10sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780501265.12623930 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780501265.87824464 seconds. ×2 + 3.26sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.26sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 4.15sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.16sINFOros2_control_node[2026-06-03 15:41:07.183] [info] Received new action goal + 4.16sINFOros2_control_node[2026-06-03 15:41:07.183] [info] Accepted new action goal + 7.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 10.22sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.24sINFOros2_control_node[2026-06-03 15:41:13.263] [info] Received new action goal + 10.24sINFOros2_control_node[2026-06-03 15:41:13.263] [info] Accepted new action goal + 13.84sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780501276.86849833 seconds ×2 + 14.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780501277.42929840 seconds. ×2 + 14.58sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 14.58sINFOobjective_server_nodePath shortcutter: [X___X] + 14.59sINFOros2_control_node[2026-06-03 15:41:17.613] [info] Received new action goal + 14.59sINFOros2_control_node[2026-06-03 15:41:17.613] [info] Accepted new action goal + 14.84sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 14.84sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 15.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 15.86sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 2 errors · 63 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780501404.90505552 seconds ×2 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.87sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780501405.60067010 seconds. ×2 + 1.60sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.60sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.60sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 1.60sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.60sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.61sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.75sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 1.75sINFOobjective_server_nodePath shortcutter: [X______X] + 1.77sINFOros2_control_node[2026-06-03 15:43:25.820] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 15:43:25.820] [info] Accepted new action goal + 5.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.74% of iterations over budget over 5:10.011 of wall time (704/94599). Below 1% is expected on a non-realtime system.[0m + 8.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.49sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 8.67sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 8.67sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m + 8.76sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 8.77sINFOobjective_server_nodePath shortcutter: [X___________X] + 8.77sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 8.77sINFOobjective_server_nodePath shortcutter: [X_________________X] + 8.79sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 8.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 8.84sINFOobjective_server_nodeFound path in 1 iterations (0.00264408 s). + 8.93sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 8.94sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 8.96sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Received new action goal + 8.96sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Accepted new action goal + 11.48sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Received new action goal + 11.48sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Accepted new action goal + 11.95sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Got request to cancel active goal. + 11.95sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Canceling active goal... + 11.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780501416.01321959 seconds ×2 + 12.57sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780501416.62381792 seconds. ×2 + 12.72sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 12.72sINFOobjective_server_nodePath shortcutter: [X________X] + 12.72sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 12.72sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.72sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 12.72sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.73sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Received new action goal + 12.73sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Accepted new action goal + 14.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.1s | 4 errors · 38 info |
+ 0.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Received new action goal + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Received new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Canceling active goal... + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780501416.01321959 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780501416.62381792 seconds. ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Accepted new action goal + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 14.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780501427.09417725 seconds ×2 + 14.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780501427.65396857 seconds. ×2 + 14.89sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.91sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.91sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 14.91sINFOobjective_server_nodePath shortcutter: [X________________X] + 14.92sINFOros2_control_node[2026-06-03 15:43:47.913] [info] Received new action goal + 14.92sINFOros2_control_node[2026-06-03 15:43:47.913] [info] Accepted new action goal | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 4 errors · 76 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780501184.60814714 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780501185.16974354 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.76sINFOobjective_server_nodePath shortcutter: [X______X] + 0.77sINFOros2_control_node[2026-06-03 15:39:45.373] [info] Received new action goal + 0.77sINFOros2_control_node[2026-06-03 15:39:45.373] [info] Accepted new action goal + 0.90sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.90sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.93sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 4.93sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 5.43sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.43sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 7.12sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.13sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 7.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 7.22sINFOobjective_server_nodePath shortcutter: [X__________X] + 7.24sINFOobjective_server_nodePath shortcutter: [X________________X] + 7.24sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 7.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 7.27sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 7.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 7.32sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 7.34sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 7.36sINFOobjective_server_nodeFound path in 1 iterations (0.00223924 s). + 7.45sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 7.45sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 7.45sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 7.47sINFOobjective_server_nodeFound path in 1 iterations (0.00386113 s). + 7.55sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 7.57sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 7.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 7.72sINFOros2_control_node[2026-06-03 15:39:52.326] [info] Received new action goal + 7.72sINFOros2_control_node[2026-06-03 15:39:52.326] [info] Accepted new action goal + 10.30sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 10.30sINFOobjective_server_nodePath shortcutter: [X_X] + 10.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 10.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 10.32sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 10.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 10.38sINFOobjective_server_nodeFound path in 1 iterations (0.00265655 s). + 10.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 10.54sINFOros2_control_node[2026-06-03 15:39:55.150] [info] Received new action goal + 10.54sINFOros2_control_node[2026-06-03 15:39:55.150] [info] Accepted new action goal + 10.99sINFOros2_control_node[2026-06-03 15:39:55.592] [info] Received new action goal + 10.99sINFOros2_control_node[2026-06-03 15:39:55.592] [info] Accepted new action goal + 11.01sINFOros2_control_node[2026-06-03 15:39:55.619] [info] Got request to cancel active goal. + 11.01sINFOros2_control_node[2026-06-03 15:39:55.619] [info] Canceling active goal... + 11.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780501195.62368202 seconds ×2 + 11.62sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780501196.23248148 seconds. ×2 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 11.84sINFOros2_control_node[2026-06-03 15:39:56.443] [info] Received new action goal + 11.84sINFOros2_control_node[2026-06-03 15:39:56.443] [info] Accepted new action goal + 12.04sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.04sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 12.04sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.04sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.27sINFOros2_control_node[2026-06-03 15:39:58.878] [info] Received new action goal + 14.27sINFOros2_control_node[2026-06-03 15:39:58.878] [info] Accepted new action goal | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 2 errors · 47 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780501437.51102805 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.57sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780501438.07856393 seconds. ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.68sINFOobjective_server_nodePath shortcutter: [X________X] + 0.69sINFOros2_control_node[2026-06-03 15:43:58.202] [info] Received new action goal + 0.69sINFOros2_control_node[2026-06-03 15:43:58.202] [info] Accepted new action goal + 0.95sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.95sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.60sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 10.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780501448.48876333 seconds ×2 + 11.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780501449.13983130 seconds. ×2 + 11.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780501449.21999741 seconds ×2 + 12.02sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 12.02sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780501449.78124404 seconds. ×2 + 12.29sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 12.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780501449.80326104 seconds ×2 + 12.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780501450.36248374 seconds. ×2 + 12.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 12.95sINFOobjective_server_nodePath shortcutter: [X___X] + 12.97sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Received new action goal + 12.97sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Accepted new action goal | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 4 errors · 38 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Accepted new action goal + 2.16sINFOros2_control_node[2026-06-03 15:39:33.609] [info] Got request to cancel active goal. + 2.16sINFOros2_control_node[2026-06-03 15:39:33.610] [info] Canceling active goal... + 2.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780501173.62182069 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780501174.25766206 seconds. ×2 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Accepted new action goal + 13.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780501184.60814714 seconds ×2 + 13.72sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780501185.16974354 seconds. ×2 + 13.91sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 13.92sINFOros2_control_node[2026-06-03 15:39:45.373] [info] Received new action goal + 13.92sINFOros2_control_node[2026-06-03 15:39:45.373] [info] Accepted new action goal + 14.05sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.05sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.8s | 4 errors · 2 warnings · 74 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780501448.48876333 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780501449.13983130 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780501449.21999741 seconds ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780501449.78124404 seconds. ×2 + 1.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780501449.80326104 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780501450.36248374 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Accepted new action goal + 5.31sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.32sINFOros2_control_node[2026-06-03 15:44:13.809] [info] Received new action goal + 5.32sINFOros2_control_node[2026-06-03 15:44:13.809] [info] Accepted new action goal + 5.32sINFOros2_control_node[2026-06-03 15:44:13.809] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.11sINFOros2_control_node[2026-06-03 15:44:20.594] [info] Got request to cancel active goal. + 12.11sINFOros2_control_node[2026-06-03 15:44:20.594] [info] Canceling active goal... + 12.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780501460.60468078 seconds ×2 + 12.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780501461.23715544 seconds. ×2 + 13.15sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 13.15sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 14.15sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 14.16sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 14.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780501462.92730403 seconds ×2 + 14.66sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 14.66sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 14.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780501463.48064375 seconds. ×2 + 14.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.99sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 14.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780501463.48238015 seconds ×2 + 15.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 15.16sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 15.16sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 15.16sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 15.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780501464.04401660 seconds. ×2 + 15.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780501464.04488611 seconds ×2 + 15.67sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 15.67sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 2 errors · 65 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Accepted new action goal + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780501162.15093517 seconds ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.79sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780501162.74564338 seconds. ×2 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780501162.83578610 seconds ×2 + 2.46sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.46sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780501163.39911962 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Accepted new action goal + 3.47sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.47sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.49sINFOros2_control_node[2026-06-03 15:39:26.873] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 15:39:26.873] [info] Accepted new action goal + 8.81sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 8.82sINFOros2_control_node[2026-06-03 15:39:29.201] [info] Received new action goal + 8.82sINFOros2_control_node[2026-06-03 15:39:29.201] [info] Accepted new action goal + 9.21sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 1:10.005 of wall time (110/21520). Below 1% is expected on a non-realtime system.[0m + 11.16sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 11.17sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Received new action goal + 11.17sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Accepted new action goal + 13.23sINFOros2_control_node[2026-06-03 15:39:33.609] [info] Got request to cancel active goal. + 13.23sINFOros2_control_node[2026-06-03 15:39:33.610] [info] Canceling active goal... + 13.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780501173.62182069 seconds ×2 + 13.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780501174.25766206 seconds. ×2 + 14.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 14.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 14.04sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 14.04sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 15.02sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 15.03sINFOobjective_server_nodePath shortcutter: [X______X] + 15.06sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Received new action goal + 15.06sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Accepted new action goal | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 2 errors · 82 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 0.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 1.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 1.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 1.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 1.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 1.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 2.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 2.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.74sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 2.74sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.75sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 2.75sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 4.28sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 4.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 5.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 5.24sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.26sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 5.26sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal + 8.98sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 8.99sINFOros2_control_node[2026-06-03 15:38:34.309] [info] Received new action goal + 8.99sINFOros2_control_node[2026-06-03 15:38:34.309] [info] Accepted new action goal + 12.30sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 12.30sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.31sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Received new action goal + 12.31sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Accepted new action goal + 12.80sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Got request to cancel active goal. + 12.80sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Canceling active goal... + 12.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780501118.13038063 seconds ×2 + 13.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780501118.69220591 seconds. ×2 + 13.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780501118.82245636 seconds ×2 + 14.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780501119.46005797 seconds. ×2 + 14.17sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.18sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.33sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 15.33sINFOobjective_server_nodePath shortcutter: [X______X] + 15.34sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Received new action goal + 15.34sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Accepted new action goal | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.6s | 21 errors · 2 warnings · 141 info |
+ 0.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780501461.23715544 seconds. ×2 + 0.40sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.40sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.40sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.41sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780501462.92730403 seconds ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.70sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 1.91sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.91sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.24sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780501463.48064375 seconds. ×2 + 2.24sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.24sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.25sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.25sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780501463.48238015 seconds ×2 + 2.41sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.41sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.41sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.41sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780501464.04401660 seconds. ×2 + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780501464.04488611 seconds ×2 + 2.92sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 2.92sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780501464.60252094 seconds. ×2 + 3.93sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 3.93sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 4.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780501465.31265640 seconds ×2 + 4.10sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.43sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.58sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 8.36sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 6:10.012 of wall time (787/112921). Below 1% is expected on a non-realtime system.[0m + 9.58sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.59sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.59sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.59sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.59sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.59sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.59sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.59sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.59sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.60sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.60sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.60sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.60sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.60sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 9.61sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 9.61sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 9.62sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 9.63sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 9.64sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 9.64sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 9.65sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 9.67sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 9.68sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 9.69sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 9.70sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 9.71sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 9.71sINFOcontroller_managerShutdown request received.... + 9.71sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.71sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.71sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.71sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 9.71sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.71sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.71sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.71sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.71sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.71sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.71sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.71sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.71sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.71sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 9.71sINFOcontroller_managerShutting down the controller manager. + 9.71sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 9.71sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 9.71sERRORui_teleop_bridgeTraceback (most recent call last): + 9.71sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 9.72sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 9.72sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.10/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main + 9.72sINFOui_teleop_bridgerclpy.shutdown() + 9.72sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 9.72sINFOui_teleop_bridge_shutdown(context=context) + 9.72sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 9.72sINFOui_teleop_bridgereturn context.shutdown() + 9.72sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 9.72sINFOui_teleop_bridgeself.__context.shutdown() + 9.72sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 9.72sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 9.72sINFOros2_control_nodeShutdown request received....[0m + 9.72sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 9.72sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 9.72sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 9.72sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 9.72sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 9.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 9.72sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 9.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 9.72sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 9.72sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 9.72sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 9.72sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 9.72sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 9.72sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 9.72sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 9.72sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 9.72sINFOros2_control_nodeShutting down the controller manager.[0m + 9.75sINFOobjective_server_node[0;m[2026-06-03 15:44:30.985] [moveit_pro_license] [info] + 9.75sINFOobjective_server_node************************************************* ×2 + 9.75sINFOobjective_server_node* MoveIt Pro License + 9.75sINFOobjective_server_node* Application has successfully terminated + 9.82sINFOobjective_server_nodecorrupted double-linked list + 9.82sERRORobjective_server_nodeStack trace (most recent call last) in thread 25205: + 9.83sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 9.83sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efea3ba3a83, in __clone + 9.83sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efea3b12ac2, in + 9.83sINFOobjective_server_node#12 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7efe7e2a521b, in + 9.83sINFOobjective_server_node#11 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7efe7e259674, in + 9.83sINFOobjective_server_node#10 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7efe7e248339, in + 9.83sINFOobjective_server_node#9 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7efe7e238ede, in + 9.84sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efea3b23452, in free + 9.84sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efea3b20e9f, in + 9.84sINFOtf2_web_republisher_node-19process has finished cleanly [pid 24834] + 9.84sINFOweb_video_server-20process has finished cleanly [pid 24851] + 9.84sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efea3b1f968, in + 9.84sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efea3b1f7cb, in + 9.84sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efea3b1ecfb, in + 9.84sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efea3b07676, in + 9.84sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efea3aa67f2, in abort + 9.84sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efea3ac0475, in raise + 9.84sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efea3b149fc, in pthread_kill + 9.84sERRORobjective_server_nodeAborted (Signal sent by tkill() 24806 0) + 9.84sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 9.84sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 9.87sERRORui_teleop_bridge-17process has died [pid 24812, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_sxh5ihd5']. + 9.98sINFOfoxglove_bridgeShutdown complete[0m + 10.60sERRORobjective_server_node_main-14process has died [pid 24806, 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__pcjvfej --params-file /tmp/launch_params_1fti4j2n --params-file /tmp/launch_params_mgcvgwfw --params-file /tmp/launch_params_k_l5v46c --params-file /tmp/launch_params_tm0v119u --params-file /tmp/launch_params_vfrbzstq']. + 10.60sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 10.70sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 24804] + 10.73sINFOexecute_objective_bridge-16process has finished cleanly [pid 24810] + 10.73sINFOmove_joint_resampler_node-12process has finished cleanly [pid 24802] + 10.74sINFOparameter_manager_node-10process has finished cleanly [pid 24761] + 10.76sINFOwaypoint_manager_node-11process has finished cleanly [pid 24800] + 10.83sINFOcomponent_container_mt-15process has finished cleanly [pid 24808] + 11.03sINFOmove_group-9process has finished cleanly [pid 24758] + 11.85sINFOfoxglove_bridge-18process has finished cleanly [pid 24814] + 11.85sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system + 12.29sINFOros2_control_node-1process has finished cleanly [pid 24739] | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 2 errors · 30 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780501427.09417725 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780501427.65396857 seconds. ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.79sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.80sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.80sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.80sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.82sINFOros2_control_node[2026-06-03 15:43:47.913] [info] Received new action goal + 0.82sINFOros2_control_node[2026-06-03 15:43:47.913] [info] Accepted new action goal + 4.84sINFOros2_control_node[2026-06-03 15:43:51.929] [info] Received new action goal + 4.84sINFOros2_control_node[2026-06-03 15:43:51.930] [info] Accepted new action goal + 10.42sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780501437.51102805 seconds ×2 + 10.98sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780501438.07856393 seconds. ×2 + 11.10sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 11.10sINFOobjective_server_nodePath shortcutter: [X________X] + 11.11sINFOros2_control_node[2026-06-03 15:43:58.202] [info] Received new action goal + 11.11sINFOros2_control_node[2026-06-03 15:43:58.202] [info] Accepted new action goal + 11.36sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 11.36sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 13.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 8.2s | 77 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780501208.08076811 seconds. ×2 + 0.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780501208.16091371 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780501208.73394012 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Received new action goal + 0.79sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Accepted new action goal + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780501210.87409616 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780501211.45689702 seconds. ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.52sINFOros2_control_node[2026-06-03 15:40:11.598] [info] Received new action goal + 3.52sINFOros2_control_node[2026-06-03 15:40:11.598] [info] Accepted new action goal + 3.68sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.68sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 8.58sINFOobjective_server_node[0;93m2026-06-03 15:40:16.657408610 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 8.58sINFOobjective_server_node[0;93m2026-06-03 15:40:16.657445411 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.12sINFOobjective_server_node[0;93m2026-06-03 15:40:17.202657208 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.12sINFOobjective_server_node[0;93m2026-06-03 15:40:17.202697459 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.26sINFOobjective_server_node[0;93m2026-06-03 15:40:17.336144869 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 9.26sINFOobjective_server_node[0;93m2026-06-03 15:40:17.338420024 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.26sINFOobjective_server_node[0;93m2026-06-03 15:40:17.338445625 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.59sINFOobjective_server_node[0;93m2026-06-03 15:40:17.670314397 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 9.61sINFOobjective_server_node[0;93m2026-06-03 15:40:17.689940246 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.61sINFOobjective_server_node[0;93m2026-06-03 15:40:17.690002618 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.96sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780501219.04490066 seconds ×2 + 11.24sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 11.24sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 11.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780501219.66574311 seconds. ×2 + 11.74sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.74sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.74sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 11.74sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 12.27sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345032577 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.27sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345087788 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.77sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850683212 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.77sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850721633 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.90sINFOobjective_server_node[0;93m2026-06-03 15:40:20.976318821 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.90sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978959926 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.90sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978998557 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.24sINFOobjective_server_node[0;93m2026-06-03 15:40:21.322691997 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 13.26sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341747921 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.27sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341790572 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.14sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780501222.22134948 seconds ×2 + 14.27sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 14.27sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 14.88sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780501222.96077871 seconds. ×2 + 14.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.89sINFOros2_control_nodeReceived & accepted new action goal[0m + 14.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 14.97sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.2s | 62 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-03 15:40:16.657408610 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.00sINFOobjective_server_node[0;93m2026-06-03 15:40:16.657445411 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.55sINFOobjective_server_node[0;93m2026-06-03 15:40:17.202657208 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.55sINFOobjective_server_node[0;93m2026-06-03 15:40:17.202697459 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.68sINFOobjective_server_node[0;93m2026-06-03 15:40:17.336144869 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 0.68sINFOobjective_server_node[0;93m2026-06-03 15:40:17.338420024 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.68sINFOobjective_server_node[0;93m2026-06-03 15:40:17.338445625 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.01sINFOobjective_server_node[0;93m2026-06-03 15:40:17.670314397 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:17.689940246 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:17.690002618 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.39sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780501219.04490066 seconds ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 2.66sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 3.01sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780501219.66574311 seconds. ×2 + 3.16sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.16sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.16sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.17sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.69sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345032577 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 3.69sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345087788 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.19sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850683212 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.19sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850721633 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.32sINFOobjective_server_node[0;93m2026-06-03 15:40:20.976318821 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 4.32sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978959926 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.32sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978998557 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.67sINFOobjective_server_node[0;93m2026-06-03 15:40:21.322691997 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 4.69sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341747921 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.69sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341790572 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.56sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780501222.22134948 seconds ×2 + 5.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 5.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 6.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780501222.96077871 seconds. ×2 + 6.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.31sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.39sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 6.39sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 6.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.70sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.70sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 6.70sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.70sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.70sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Received new action goal + 6.70sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Accepted new action goal + 9.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 9.55sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Received new action goal + 9.55sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Accepted new action goal | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.7s | 35 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780501207.44081664 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780501208.08076811 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780501208.16091371 seconds ×2 + 1.29sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780501208.73394012 seconds. ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.43sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Received new action goal + 1.43sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Accepted new action goal + 3.43sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780501210.87409616 seconds ×2 + 4.02sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780501211.45689702 seconds. ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 4.16sINFOros2_control_node[2026-06-03 15:40:11.598] [info] Received new action goal + 4.16sINFOros2_control_node[2026-06-03 15:40:11.598] [info] Accepted new action goal + 4.32sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 4.32sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.2s | 2 errors · 2 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-03 15:44:20.594] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 15:44:20.594] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780501460.60468078 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780501461.23715544 seconds. ×2 + 1.04sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 1.04sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.05sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.05sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780501462.92730403 seconds ×2 + 2.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780501463.48064375 seconds. ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780501463.48238015 seconds ×2 + 3.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780501464.04401660 seconds. ×2 + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780501464.04488611 seconds ×2 + 3.56sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.57sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 4.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780501464.60252094 seconds. ×2 + 4.57sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 4.57sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 4.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780501465.31265640 seconds ×2 + 4.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 5.08sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.22sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 12 warnings · 247 info |
+ 0.00sINFOobjective_server_node[2026-06-03 15:38:19.532] [moveit_pro_license] [info] + 0.00sINFOobjective_server_node************************************************* ×2 + 0.00sINFOobjective_server_node* MoveIt Pro License + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.02sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.02sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.03sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.03sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.03sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.03sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.04sINFOcontroller_managerupdate rate is 600 Hz + 0.04sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.04sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.04sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.04sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.04sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m + 0.04sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.04sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.07sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.07sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.07sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.07sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.10sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.11sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.11sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.13sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.16sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.16sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.16sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.16sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.16sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.16sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.16sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.16sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.16sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.16sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.16sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.16sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.16sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.16sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.16sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.16sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.16sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.17sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.17sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.18sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.21sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.21sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.23sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color" + 0.23sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color"[0m + 0.23sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/statistics" + 0.23sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/scene_camera/color" + 0.23sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/statistics"[0m + 0.23sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/scene_camera/color"[0m + 0.24sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/camera_info" + 0.24sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/camera_info"[0m + 0.24sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" + 0.24sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" + 0.24sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 0.24sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 0.24sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/joint_trajectory_controller/transition_event" + 0.24sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robotiq_gripper_controller/transition_event" + 0.25sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/joint_trajectory_controller/transition_event"[0m + 0.25sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.25sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/state" + 0.25sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/state"[0m + 0.25sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/joint_trajectory" + 0.25sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_controller/controller_state" + 0.25sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event" + 0.25sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.25sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_controller/controller_state"[0m + 0.25sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event"[0m + 0.25sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/failure_reason_collector" + 0.25sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/failure_reason_collector"[0m + 0.26sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/dynamic_joint_states" + 0.26sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/dynamic_joint_states"[0m + 0.26sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description" + 0.26sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/wrist_camera/points" + 0.26sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/wrist_camera/camera_info" + 0.26sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/wrist_camera/depth" + 0.26sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description"[0m + 0.26sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/wrist_camera/points"[0m + 0.26sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/wrist_camera/camera_info"[0m + 0.26sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/wrist_camera/depth"[0m + 0.35sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 24743] + 0.44sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 24745] + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. + 0.46sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.46sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 24747] + 0.48sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.48sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.48sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.55sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.55sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.55sINFOros2_control_node[2026-06-03 15:38:20.082] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.55sINFOros2_control_node[2026-06-03 15:38:20.082] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.66sINFOros2_control_node[2026-06-03 15:38:20.189] [info] First order lag filter time constant set to: 0.2 seconds + 0.66sINFOros2_control_node[2026-06-03 15:38:20.189] [info] Controller state will be published at 50 Hz. + 0.66sINFOros2_control_node[2026-06-03 15:38:20.196] [info] Registered `FollowJointTrajectory` action server. + 0.66sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.67sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.71sINFOros2_control_node[2026-06-03 15:38:20.244] [info] Controller state will be published at 20 Hz. + 0.71sINFOros2_control_node[2026-06-03 15:38:20.246] [info] JointVelocityController 'on_configure' succeeded. + 0.71sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.71sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.72sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.72sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.77sINFOros2_control_node[2026-06-03 15:38:20.301] [info] Controller state will be published at 10 Hz. + 0.77sINFOros2_control_node[2026-06-03 15:38:20.302] [info] VelocityForceController 'on_configure' succeeded. + 0.78sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.88sINFOobjective_server_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. + 0.88sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.88sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. + 0.88sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.91sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.91sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 24749] + 0.95sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.96sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.96sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.96sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.96sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.96sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 24755] + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 24741] + 1.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.05sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event"[0m + 1.05sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command" + 1.05sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command"[0m + 1.05sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state" + 1.06sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap" + 1.06sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/transition_event" + 1.06sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 1.06sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/transition_event"[0m + 1.07sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state" + 1.07sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command" + 1.07sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state"[0m + 1.07sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command"[0m + 1.08sINFOmove_group ×2 + 1.08sINFOmove_group[92mYou can start planning now![0m + 1.08sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers" + 1.08sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.08sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers"[0m + 1.08sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.08sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/wrench" + 1.08sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.08sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/blackboard_contents" + 1.08sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.08sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 1.09sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/blackboard_contents"[0m + 1.09sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/behavior_tree_status" + 1.09sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.09sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/behavior_tree_status"[0m + 1.09sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 1.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 24752] + 1.83sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780501101.96372724 seconds. ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780501101.97392464 seconds ×2 + 2.83sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.83sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 3.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780501102.53124690 seconds. ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.35sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.35sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780501103.65141106 seconds ×2 + 4.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 5.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 6.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 6.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 6.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 7.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 7.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 7.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 8.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 8.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.7s | 63 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780501101.96372724 seconds. ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780501101.97392464 seconds ×2 + 1.00sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.00sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780501102.53124690 seconds. ×2 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.52sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780501103.65141106 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 3.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 6.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 6.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 6.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.71sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 6.71sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 8.23sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 35 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780501207.44081664 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780501208.08076811 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780501208.16091371 seconds ×2 + 1.29sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780501208.73394012 seconds. ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.43sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Received new action goal + 1.43sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Accepted new action goal + 3.43sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780501210.87409616 seconds ×2 + 4.02sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780501211.45689702 seconds. ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 4.16sINFOros2_control_node[2026-06-03 15:40:11.598] [info] Received new action goal + 4.16sINFOros2_control_node[2026-06-03 15:40:11.598] [info] Accepted new action goal + 4.32sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 4.32sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Accepted new action goal + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Got request to cancel active goal. + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Canceling active goal... + 0.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780501118.13038063 seconds ×2 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780501118.69220591 seconds. ×2 + 1.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780501118.82245636 seconds ×2 + 1.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780501119.46005797 seconds. ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X______X] + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Accepted new action goal | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Accepted new action goal + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780501162.15093517 seconds ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780501162.74564338 seconds. ×2 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780501162.83578610 seconds ×2 + 2.46sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.46sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780501163.39911962 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Accepted new action goal + 3.47sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.47sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 15:39:26.873] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 15:39:26.873] [info] Accepted new action goal | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.6s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780501448.48876333 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780501449.13983130 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780501449.21999741 seconds ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780501449.78124404 seconds. ×2 + 1.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780501449.80326104 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780501450.36248374 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Accepted new action goal | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780501448.48876333 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780501449.13983130 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780501449.21999741 seconds ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780501449.78124404 seconds. ×2 + 1.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780501449.80326104 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780501450.36248374 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Accepted new action goal | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 2 errors · 2 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-03 15:44:20.594] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 15:44:20.594] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780501460.60468078 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780501461.23715544 seconds. ×2 + 1.04sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 1.04sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.05sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.05sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780501462.92730403 seconds ×2 + 2.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780501463.48064375 seconds. ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780501463.48238015 seconds ×2 + 3.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780501464.04401660 seconds. ×2 + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780501464.04488611 seconds ×2 + 3.56sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.57sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 4.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780501464.60252094 seconds. ×2 + 4.57sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 4.57sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 4.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780501465.31265640 seconds ×2 + 4.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 5.08sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.22sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 2 errors · 2 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-03 15:44:20.594] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 15:44:20.594] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780501460.60468078 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780501461.23715544 seconds. ×2 + 1.04sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 1.04sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.05sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.05sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780501462.92730403 seconds ×2 + 2.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780501463.48064375 seconds. ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780501463.48238015 seconds ×2 + 3.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780501464.04401660 seconds. ×2 + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780501464.04488611 seconds ×2 + 3.56sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.57sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 4.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780501464.60252094 seconds. ×2 + 4.57sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 4.57sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m + 4.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780501465.31265640 seconds ×2 + 4.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 5.08sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.22sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.1s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780501448.48876333 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780501449.13983130 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780501449.21999741 seconds ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780501449.78124404 seconds. ×2 + 1.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780501449.80326104 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780501450.36248374 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Accepted new action goal | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.1s | 2 errors · 2 warnings · 38 info |
+ 0.00sINFOros2_control_node[2026-06-03 15:44:20.594] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 15:44:20.594] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780501460.60468078 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780501461.23715544 seconds. ×2 + 1.04sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 1.04sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.05sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.05sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780501462.92730403 seconds ×2 + 2.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780501463.48064375 seconds. ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780501463.48238015 seconds ×2 + 3.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780501464.04401660 seconds. ×2 + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780501464.04488611 seconds ×2 + 3.56sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.57sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Accepted new action goal + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Got request to cancel active goal. + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Canceling active goal... + 0.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780501118.13038063 seconds ×2 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780501118.69220591 seconds. ×2 + 1.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780501118.82245636 seconds ×2 + 1.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780501119.46005797 seconds. ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X______X] + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Accepted new action goal | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Accepted new action goal + 2.16sINFOros2_control_node[2026-06-03 15:39:33.609] [info] Got request to cancel active goal. + 2.16sINFOros2_control_node[2026-06-03 15:39:33.610] [info] Canceling active goal... + 2.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780501173.62182069 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780501174.25766206 seconds. ×2 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Accepted new action goal | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 92 errors · 1019 info |
+ 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×159 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×205 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×159 + 0.01sINFOjoint_trajectory_controllerGoal reached, success! ×138 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×138 + 0.02sINFOjoint_trajectory_controllerReceived new action goal ×204 + 0.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.741597) + 0.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.741597)[0m + 0.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.941597) + 0.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501370.941597)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.021597) + 0.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.021597)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.031597) + 0.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.031597)[0m + 0.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.051597) + 0.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.051597)[0m + 0.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.071597) + 0.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.071597)[0m + 0.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.091597) ×2 + 0.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.091597)[0m ×2 + 0.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.161597) + 0.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.161597)[0m + 0.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.181597) + 0.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.181597)[0m + 0.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.201597) + 0.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.201597)[0m + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.221597) + 0.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.221597)[0m + 0.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.391597) + 0.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.391597)[0m + 0.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.531597) + 0.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.531597)[0m + 0.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.591597) + 0.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.591597)[0m + 1.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.731597) ×2 + 1.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.731597)[0m ×2 + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.751597) + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.761597) ×2 + 1.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.751597)[0m + 1.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.761597)[0m ×2 + 1.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.811597) + 1.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.811597)[0m + 1.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.991597) + 1.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501371.991597)[0m + 1.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.091597) + 1.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.091597)[0m + 1.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.511597) ×2 + 1.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.511597)[0m ×2 + 1.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.531597) + 1.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.541597) + 1.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.531597)[0m + 1.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.541597)[0m + 1.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.561597) + 1.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.561597)[0m + 1.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.581597) + 1.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.581597)[0m + 1.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.681597) + 1.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501372.681597)[0m + 2.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.001597) + 2.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.011597) + 2.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.001597)[0m + 2.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.011597)[0m + 2.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.051597) + 2.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.051597)[0m + 2.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.071597) + 2.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.071597)[0m + 2.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.211597) + 2.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.211597)[0m + 2.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.221597) ×2 + 2.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.221597)[0m ×2 + 2.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.231597) + 2.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.231597)[0m + 2.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.251597) ×2 + 2.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.251597)[0m ×2 + 2.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.291597) + 2.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.291597)[0m + 3.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.721597) + 3.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.731597) + 3.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.721597)[0m + 3.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.731597)[0m + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780501373.75046539 seconds ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.771597) + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.781597) + 3.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.771597)[0m + 3.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.781597)[0m + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.821597) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501356.381597) that ends in the past (1780501373.821597)[0m + 3.66sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780501374.39123559 seconds. ×2 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.14sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.14sINFOfoxglove_bridgeRemoving channel 70 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.85sINFOobjective_server_nodeFound path in 6 iterations (0.00717897 s). + 4.93sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.95sINFOros2_control_node[2026-06-03 15:42:55.677] [info] Received new action goal + 4.95sINFOros2_control_node[2026-06-03 15:42:55.677] [info] Accepted new action goal | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Accepted new action goal + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Got request to cancel active goal. + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Canceling active goal... + 0.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780501118.13038063 seconds ×2 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780501118.69220591 seconds. ×2 + 1.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780501118.82245636 seconds ×2 + 1.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780501119.46005797 seconds. ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X______X] + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Accepted new action goal | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Accepted new action goal + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Got request to cancel active goal. + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Canceling active goal... + 0.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780501118.13038063 seconds ×2 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780501118.69220591 seconds. ×2 + 1.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780501118.82245636 seconds ×2 + 1.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780501119.46005797 seconds. ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X______X] + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Accepted new action goal | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Accepted new action goal + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Got request to cancel active goal. + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Canceling active goal... + 0.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780501118.13038063 seconds ×2 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780501118.69220591 seconds. ×2 + 1.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780501118.82245636 seconds ×2 + 1.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780501119.46005797 seconds. ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X______X] + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Accepted new action goal | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Accepted new action goal + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Got request to cancel active goal. + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Canceling active goal... + 0.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780501118.13038063 seconds ×2 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780501118.69220591 seconds. ×2 + 1.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780501118.82245636 seconds ×2 + 1.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780501119.46005797 seconds. ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X______X] + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Accepted new action goal | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:38:37.629] [info] Accepted new action goal + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Got request to cancel active goal. + 0.59sINFOros2_control_node[2026-06-03 15:38:38.115] [info] Canceling active goal... + 0.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780501118.13038063 seconds ×2 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780501118.69220591 seconds. ×2 + 1.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780501118.82245636 seconds ×2 + 1.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780501119.46005797 seconds. ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 1.97sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.12sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). + 3.12sINFOobjective_server_nodePath shortcutter: [X______X] + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-03 15:38:40.654] [info] Accepted new action goal | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Accepted new action goal + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780501162.15093517 seconds ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780501162.74564338 seconds. ×2 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780501162.83578610 seconds ×2 + 2.46sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.46sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780501163.39911962 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Accepted new action goal + 3.47sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.47sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 15:39:26.873] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 15:39:26.873] [info] Accepted new action goal | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Accepted new action goal + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780501162.15093517 seconds ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780501162.74564338 seconds. ×2 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780501162.83578610 seconds ×2 + 2.46sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.46sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780501163.39911962 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Accepted new action goal + 3.47sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.47sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 15:39:26.873] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 15:39:26.873] [info] Accepted new action goal | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Accepted new action goal + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780501162.15093517 seconds ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780501162.74564338 seconds. ×2 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780501162.83578610 seconds ×2 + 2.46sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.46sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780501163.39911962 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Accepted new action goal + 3.47sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.47sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 15:39:26.873] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 15:39:26.873] [info] Accepted new action goal | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.38sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-03 15:39:20.761] [info] Accepted new action goal + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780501162.15093517 seconds ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780501162.74564338 seconds. ×2 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780501162.83578610 seconds ×2 + 2.46sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.46sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780501163.39911962 seconds. ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.14sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Received new action goal + 3.14sINFOros2_control_node[2026-06-03 15:39:23.523] [info] Accepted new action goal + 3.47sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.47sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-03 15:39:26.873] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-03 15:39:26.873] [info] Accepted new action goal | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Accepted new action goal + 2.16sINFOros2_control_node[2026-06-03 15:39:33.609] [info] Got request to cancel active goal. + 2.16sINFOros2_control_node[2026-06-03 15:39:33.610] [info] Canceling active goal... + 2.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780501173.62182069 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780501174.25766206 seconds. ×2 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Accepted new action goal | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Accepted new action goal + 2.16sINFOros2_control_node[2026-06-03 15:39:33.609] [info] Got request to cancel active goal. + 2.16sINFOros2_control_node[2026-06-03 15:39:33.610] [info] Canceling active goal... + 2.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780501173.62182069 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780501174.25766206 seconds. ×2 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Accepted new action goal | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Accepted new action goal + 2.16sINFOros2_control_node[2026-06-03 15:39:33.609] [info] Got request to cancel active goal. + 2.16sINFOros2_control_node[2026-06-03 15:39:33.610] [info] Canceling active goal... + 2.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780501173.62182069 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780501174.25766206 seconds. ×2 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Accepted new action goal | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Accepted new action goal + 2.16sINFOros2_control_node[2026-06-03 15:39:33.609] [info] Got request to cancel active goal. + 2.16sINFOros2_control_node[2026-06-03 15:39:33.610] [info] Canceling active goal... + 2.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780501173.62182069 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780501174.25766206 seconds. ×2 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Accepted new action goal | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Accepted new action goal + 2.16sINFOros2_control_node[2026-06-03 15:39:33.609] [info] Got request to cancel active goal. + 2.16sINFOros2_control_node[2026-06-03 15:39:33.610] [info] Canceling active goal... + 2.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780501173.62182069 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780501174.25766206 seconds. ×2 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Accepted new action goal | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Accepted new action goal + 2.16sINFOros2_control_node[2026-06-03 15:39:33.609] [info] Got request to cancel active goal. + 2.16sINFOros2_control_node[2026-06-03 15:39:33.610] [info] Canceling active goal... + 2.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780501173.62182069 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780501174.25766206 seconds. ×2 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Accepted new action goal | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Accepted new action goal + 2.16sINFOros2_control_node[2026-06-03 15:39:33.609] [info] Got request to cancel active goal. + 2.16sINFOros2_control_node[2026-06-03 15:39:33.610] [info] Canceling active goal... + 2.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780501173.62182069 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780501174.25766206 seconds. ×2 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Accepted new action goal | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Accepted new action goal + 2.16sINFOros2_control_node[2026-06-03 15:39:33.609] [info] Got request to cancel active goal. + 2.16sINFOros2_control_node[2026-06-03 15:39:33.610] [info] Canceling active goal... + 2.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780501173.62182069 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780501174.25766206 seconds. ×2 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Accepted new action goal | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Accepted new action goal + 2.16sINFOros2_control_node[2026-06-03 15:39:33.609] [info] Got request to cancel active goal. + 2.16sINFOros2_control_node[2026-06-03 15:39:33.610] [info] Canceling active goal... + 2.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780501173.62182069 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780501174.25766206 seconds. ×2 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Accepted new action goal | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-03 15:39:31.550] [info] Accepted new action goal + 2.16sINFOros2_control_node[2026-06-03 15:39:33.609] [info] Got request to cancel active goal. + 2.16sINFOros2_control_node[2026-06-03 15:39:33.610] [info] Canceling active goal... + 2.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780501173.62182069 seconds ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780501174.25766206 seconds. ×2 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.97sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.97sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-03 15:39:35.439] [info] Accepted new action goal | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 2 errors · 32 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.08sINFOobjective_server_nodeFound path in 1 iterations (0.00265655 s). + 0.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.24sINFOros2_control_node[2026-06-03 15:39:55.150] [info] Received new action goal + 0.24sINFOros2_control_node[2026-06-03 15:39:55.150] [info] Accepted new action goal + 0.69sINFOros2_control_node[2026-06-03 15:39:55.592] [info] Received new action goal + 0.69sINFOros2_control_node[2026-06-03 15:39:55.592] [info] Accepted new action goal + 0.71sINFOros2_control_node[2026-06-03 15:39:55.619] [info] Got request to cancel active goal. + 0.71sINFOros2_control_node[2026-06-03 15:39:55.619] [info] Canceling active goal... + 0.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780501195.62368202 seconds ×2 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780501196.23248148 seconds. ×2 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 1.54sINFOros2_control_node[2026-06-03 15:39:56.443] [info] Received new action goal + 1.54sINFOros2_control_node[2026-06-03 15:39:56.443] [info] Accepted new action goal + 1.74sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.74sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.74sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.74sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.97sINFOros2_control_node[2026-06-03 15:39:58.878] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-03 15:39:58.878] [info] Accepted new action goal | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 29 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780501207.44081664 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780501208.08076811 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780501208.16091371 seconds ×2 + 1.29sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780501208.73394012 seconds. ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.41sINFOobjective_server_nodePath shortcutter: [X______X] + 1.43sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Received new action goal + 1.43sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Accepted new action goal + 3.43sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780501210.87409616 seconds ×2 + 4.02sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780501211.45689702 seconds. ×2 | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.0s | 31 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780501208.08076811 seconds. ×2 + 0.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780501208.16091371 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780501208.73394012 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Received new action goal + 0.79sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Accepted new action goal + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780501210.87409616 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780501211.45689702 seconds. ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.52sINFOros2_control_node[2026-06-03 15:40:11.598] [info] Received new action goal + 3.52sINFOros2_control_node[2026-06-03 15:40:11.598] [info] Accepted new action goal + 3.68sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.68sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 31 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780501208.08076811 seconds. ×2 + 0.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780501208.16091371 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780501208.73394012 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Received new action goal + 0.79sINFOros2_control_node[2026-06-03 15:40:08.868] [info] Accepted new action goal + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780501210.87409616 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780501211.45689702 seconds. ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.52sINFOros2_control_node[2026-06-03 15:40:11.598] [info] Received new action goal + 3.52sINFOros2_control_node[2026-06-03 15:40:11.598] [info] Accepted new action goal + 3.68sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.68sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 48 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.35sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780501219.66574311 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345032577 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345087788 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850683212 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850721633 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.976318821 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978959926 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978998557 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:40:21.322691997 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.03sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341747921 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.03sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341790572 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780501222.22134948 seconds ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780501222.96077871 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 4.04sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Received new action goal + 4.04sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Accepted new action goal + 6.88sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.89sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Received new action goal + 6.89sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 48 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.35sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780501219.66574311 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345032577 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345087788 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850683212 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850721633 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.976318821 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978959926 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978998557 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:40:21.322691997 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.03sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341747921 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.03sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341790572 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780501222.22134948 seconds ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780501222.96077871 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 4.04sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Received new action goal + 4.04sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Accepted new action goal + 6.88sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.89sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Received new action goal + 6.89sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 48 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.35sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780501219.66574311 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345032577 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345087788 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850683212 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850721633 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.976318821 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978959926 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978998557 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:40:21.322691997 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.03sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341747921 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.03sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341790572 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780501222.22134948 seconds ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780501222.96077871 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 4.04sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Received new action goal + 4.04sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Accepted new action goal + 6.88sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.89sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Received new action goal + 6.89sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 48 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.35sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780501219.66574311 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345032577 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345087788 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850683212 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850721633 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.976318821 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978959926 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978998557 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:40:21.322691997 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.03sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341747921 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.03sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341790572 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780501222.22134948 seconds ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780501222.96077871 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 4.04sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Received new action goal + 4.04sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Accepted new action goal + 6.88sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.89sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Received new action goal + 6.89sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Accepted new action goal | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 48 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.35sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780501219.66574311 seconds. ×2 + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.50sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.50sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345032577 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.03sINFOobjective_server_node[0;93m2026-06-03 15:40:20.345087788 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850683212 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.53sINFOobjective_server_node[0;93m2026-06-03 15:40:20.850721633 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.976318821 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978959926 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.66sINFOobjective_server_node[0;93m2026-06-03 15:40:20.978998557 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.00sINFOobjective_server_node[0;93m2026-06-03 15:40:21.322691997 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.03sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341747921 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.03sINFOobjective_server_node[0;93m2026-06-03 15:40:21.341790572 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780501222.22134948 seconds ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.03sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780501222.96077871 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.04sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 4.04sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 4.04sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Received new action goal + 4.04sINFOros2_control_node[2026-06-03 15:40:23.355] [info] Accepted new action goal + 6.88sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.89sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Received new action goal + 6.89sINFOros2_control_node[2026-06-03 15:40:26.205] [info] Accepted new action goal | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 19 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780501276.86849833 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780501277.42929840 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X___X] + 0.75sINFOros2_control_node[2026-06-03 15:41:17.613] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-03 15:41:17.613] [info] Accepted new action goal + 1.00sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 1.00sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 2.01sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.02sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 118 errors · 1242 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×261 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×202 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×261 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×202 + 0.02sINFOjoint_trajectory_controllerGoal reached, success! ×151 + 0.02sINFOros2_control_nodeGoal reached, success![0m ×151 + 0.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.602936) + 0.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.602936)[0m + 0.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.622936) + 0.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.622936)[0m + 0.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.652936) + 0.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.652936)[0m + 0.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.682936) + 0.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.682936)[0m + 0.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.822936) + 0.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.832937) + 0.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.822936)[0m + 0.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.832937)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.852937) + 0.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.852937)[0m + 0.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.912936) + 0.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501336.912936)[0m + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.052937) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.052937)[0m + 0.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.082936) + 0.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.092937) + 0.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.082936)[0m + 0.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.092937)[0m + 0.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.182936) ×2 + 0.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.182936)[0m ×2 + 0.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.242936) + 0.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.242936)[0m + 0.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.262936) + 0.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.262936)[0m + 0.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.442936) + 0.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.442936)[0m + 0.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.462936) ×2 + 0.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.462936)[0m ×2 + 0.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.502936) + 0.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.502936)[0m + 0.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.522936) + 0.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.522936)[0m + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.612936) + 1.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.612936)[0m + 1.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.662936) + 1.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.662936)[0m + 1.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.772936) + 1.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.772936)[0m + 1.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.792937) + 1.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.792937)[0m + 1.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.902936) + 1.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.902936)[0m + 1.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.922936) + 1.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.922936)[0m + 1.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.942936) + 1.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.952936) + 1.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.942936)[0m + 1.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.952936)[0m + 1.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.982936) + 1.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501337.982936)[0m + 1.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.072937) ×2 + 1.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.072937)[0m ×2 + 1.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.122936) + 1.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.132936) + 1.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.122936)[0m + 1.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.132936)[0m + 1.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.302936) ×2 + 1.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.302936)[0m ×2 + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.322936) + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.322936)[0m + 1.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.342936) + 1.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.342936)[0m + 2.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.582936) + 2.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.582936)[0m + 2.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.672936) + 2.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.672936)[0m + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.712936) + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.712936)[0m + 2.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.742936) + 2.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.742936)[0m + 2.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.752936) + 2.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.752936)[0m + 2.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.792937) + 2.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.792937)[0m + 2.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.842936) + 2.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.842936)[0m + 2.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.942936) + 2.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.942936)[0m + 2.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.962936) + 2.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.962936)[0m + 2.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.992936) ×2 + 2.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501338.992936)[0m ×2 + 2.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.012936) + 2.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.012936)[0m + 2.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.102936) + 2.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.102936)[0m + 2.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.122936) + 2.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.122936)[0m + 2.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.152936) + 2.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.152936)[0m + 2.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.282936) ×2 + 2.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.282936)[0m ×2 + 2.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.452936) + 2.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.452936)[0m + 2.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.472936) + 2.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.472936)[0m + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780501339.56885171 seconds ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.572937) + 3.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.572937)[0m + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.592937) + 3.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.592937)[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.642936) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501322.382936) that ends in the past (1780501339.642936)[0m + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780501340.15997338 seconds. ×2 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.79sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.81sINFOros2_control_node[2026-06-03 15:42:20.355] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-03 15:42:20.355] [info] Accepted new action goal + 3.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view" + 3.99sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 22 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780501404.90505552 seconds ×2 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.87sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780501405.60067010 seconds. ×2 + 1.60sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.60sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.60sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 1.60sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.60sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.61sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.75sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 1.75sINFOobjective_server_nodePath shortcutter: [X______X] + 1.77sINFOros2_control_node[2026-06-03 15:43:25.820] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 15:43:25.820] [info] Accepted new action goal | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 22 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780501404.90505552 seconds ×2 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.87sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780501405.60067010 seconds. ×2 + 1.60sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.60sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.60sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution" + 1.60sINFOfoxglove_bridgeRemoving channel 72 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.60sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.61sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/preview_solution"[0m + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.75sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 1.75sINFOobjective_server_nodePath shortcutter: [X______X] + 1.77sINFOros2_control_node[2026-06-03 15:43:25.820] [info] Received new action goal + 1.77sINFOros2_control_node[2026-06-03 15:43:25.820] [info] Accepted new action goal | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Received new action goal + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Received new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Canceling active goal... + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780501416.01321959 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780501416.62381792 seconds. ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Accepted new action goal + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Received new action goal + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Received new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Canceling active goal... + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780501416.01321959 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780501416.62381792 seconds. ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Accepted new action goal + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Received new action goal + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Received new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Canceling active goal... + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780501416.01321959 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780501416.62381792 seconds. ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Accepted new action goal + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Received new action goal + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Received new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Canceling active goal... + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780501416.01321959 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780501416.62381792 seconds. ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Accepted new action goal + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Received new action goal + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Received new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Canceling active goal... + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780501416.01321959 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780501416.62381792 seconds. ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Accepted new action goal + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Received new action goal + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Received new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Canceling active goal... + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780501416.01321959 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780501416.62381792 seconds. ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Accepted new action goal + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Received new action goal + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Received new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Canceling active goal... + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780501416.01321959 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780501416.62381792 seconds. ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Accepted new action goal + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Received new action goal + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Received new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Canceling active goal... + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780501416.01321959 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780501416.62381792 seconds. ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Accepted new action goal + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Received new action goal + 0.02sINFOros2_control_node[2026-06-03 15:43:33.010] [info] Accepted new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Received new action goal + 2.54sINFOros2_control_node[2026-06-03 15:43:35.532] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-03 15:43:35.992] [info] Canceling active goal... + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780501416.01321959 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780501416.62381792 seconds. ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.78sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-03 15:43:36.777] [info] Accepted new action goal + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 2 errors · 12 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780501427.09417725 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780501427.65396857 seconds. ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.79sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.80sINFOfoxglove_bridgeRemoving channel 74 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.80sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.80sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.82sINFOros2_control_node[2026-06-03 15:43:47.913] [info] Received new action goal + 0.82sINFOros2_control_node[2026-06-03 15:43:47.913] [info] Accepted new action goal | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 16 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780501437.51102805 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.57sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780501438.07856393 seconds. ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 0.68sINFOobjective_server_nodePath shortcutter: [X________X] + 0.69sINFOros2_control_node[2026-06-03 15:43:58.202] [info] Received new action goal + 0.69sINFOros2_control_node[2026-06-03 15:43:58.202] [info] Accepted new action goal + 0.95sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.95sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.60sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780501448.48876333 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780501449.13983130 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780501449.21999741 seconds ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780501449.78124404 seconds. ×2 + 1.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780501449.80326104 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780501450.36248374 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Accepted new action goal | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780501448.48876333 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780501449.13983130 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780501449.21999741 seconds ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780501449.78124404 seconds. ×2 + 1.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780501449.80326104 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780501450.36248374 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780501448.48876333 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780501449.13983130 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780501449.21999741 seconds ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780501449.78124404 seconds. ×2 + 1.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780501449.80326104 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780501450.36248374 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Accepted new action goal | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780501448.48876333 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780501449.13983130 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780501449.21999741 seconds ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780501449.78124404 seconds. ×2 + 1.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780501449.80326104 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780501450.36248374 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Accepted new action goal | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780501448.48876333 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780501449.13983130 seconds. ×2 + 0.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780501449.21999741 seconds ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.05sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780501449.78124404 seconds. ×2 + 1.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780501449.80326104 seconds ×2 + 1.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780501450.36248374 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-03 15:44:10.478] [info] Accepted new action goal | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 2 errors · 2 warnings · 38 info |
+ 0.00sINFOros2_control_node[2026-06-03 15:44:20.594] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-03 15:44:20.594] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780501460.60468078 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780501461.23715544 seconds. ×2 + 1.04sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 1.04sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.05sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.05sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780501462.92730403 seconds ×2 + 2.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780501463.48064375 seconds. ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.89sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780501463.48238015 seconds ×2 + 3.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.05sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.05sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780501464.04401660 seconds. ×2 + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780501464.04488611 seconds ×2 + 3.56sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.57sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m | ||||
▾
/__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 | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.2s | 67 errors · 22 warnings · 6665 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/2026-06-03-15-33-03-151205-c8becbf9d269-23499 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.68sINFOros2_control_node-1process started with pid [23529] + 1.68sINFOmove_group-9process started with pid [23548] + 1.68sINFOparameter_manager_node-10process started with pid [23552] + 1.68sINFOwaypoint_manager_node-11process started with pid [23590] + 1.68sINFOmove_joint_resampler_node-12process started with pid [23592] + 1.68sINFOmove_end_effector_resampler_node-13process started with pid [23594] + 1.68sINFOobjective_server_node_main-14process started with pid [23596] + 1.68sINFOcomponent_container_mt-15process started with pid [23598] + 1.68sINFOexecute_objective_bridge-16process started with pid [23600] + 1.68sINFOui_teleop_bridge-17process started with pid [23602] + 1.68sINFOfoxglove_bridge-18process started with pid [23604] + 1.68sINFOtf2_web_republisher_node-19process started with pid [23606] + 1.68sINFOweb_video_server-20process started with pid [23613] + 1.68sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [23531] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [23533] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [23535] + 1.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [23537] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [23539] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [23542] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [23545] + 1.71sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m ×2 + 1.71sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.75sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.77sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m ×2 + 1.77sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.80sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m ×2 + 1.80sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m ×2 + 1.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.06sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.39sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/tf"[0m + 2.40sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description_semantic"[0m + 2.40sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/robot_description"[0m + 2.54sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/planning_scene"[0m + 2.54sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state"[0m + 2.54sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_joint"[0m + 2.55sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/objective_server_heartbeat"[0m + 2.55sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_end_effector"[0m + 2.56sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene_world"[0m ×2 + 2.56sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/monitored_planning_scene"[0m + 2.56sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/collision_object"[0m + 2.56sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/joint_states"[0m + 2.57sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/attached_collision_object"[0m + 2.57sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/agent_interface/move_joint"[0m + 2.57sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/tf_static"[0m + 2.57sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/agent_interface/move_end_effector"[0m + 2.62sINFOros2_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 + 2.62sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 2.62sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.88sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.30sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 3.30sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 3.30sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 3.30sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 3.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.02sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 4.02sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description"[0m + 4.05sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.05sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.06sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.06sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.06sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.06sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.06sINFOobjective_server_node[2026-06-03 15:33:07.911] [moveit_pro_license] [info] + 4.06sINFOobjective_server_node************************************************* ×6 + 4.06sINFOobjective_server_node* MoveIt Pro License ×3 + 4.06sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.07sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.07sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.07sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.08sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m ×2 + 4.14sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.15sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m ×2 + 4.16sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m ×2 + 4.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.16sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 4.16sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 4.16sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 4.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m ×2 + 4.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m ×2 + 4.20sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m ×2 + 4.36sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.37sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.37sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.38sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m ×2 + 4.39sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.39sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.39sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.39sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.39sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.39sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.39sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.39sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 23531] + 4.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m ×2 + 4.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 23535] + 4.54sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m ×2 + 4.57sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m ×2 + 4.57sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.57sINFOros2_control_node[2026-06-03 15:33:08.425] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.57sINFOros2_control_node[2026-06-03 15:33:08.425] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m ×2 + 4.62sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 4.62sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/camera_info"[0m ×2 + 4.63sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.63sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/velocity_force_controller/transition_event"[0m + 4.63sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/points"[0m + 4.63sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/robotiq_gripper_controller/transition_event"[0m + 4.64sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/depth"[0m + 4.64sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 4.64sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_velocity_controller/transition_event"[0m + 4.64sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_controller/transition_event"[0m + 4.64sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 4.64sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/color"[0m + 4.64sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 4.64sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/failure_reason_collector"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/dynamic_joint_states"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/blackboard_contents"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/behavior_tree_status"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/points"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/camera_info"[0m + 4.65sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/wrist_camera/depth"[0m + 4.65sINFOros2_control_node[2026-06-03 15:33:08.507] [info] First order lag filter time constant set to: 0.2 seconds + 4.65sINFOros2_control_node[2026-06-03 15:33:08.507] [info] Controller state will be published at 50 Hz. + 4.66sINFOros2_control_node[2026-06-03 15:33:08.514] [info] Registered `FollowJointTrajectory` action server. + 4.66sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m ×2 + 4.66sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.66sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m ×2 + 4.70sINFOros2_control_node[2026-06-03 15:33:08.556] [info] Controller state will be published at 20 Hz. + 4.70sINFOros2_control_node[2026-06-03 15:33:08.557] [info] JointVelocityController 'on_configure' succeeded. + 4.71sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m ×2 + 4.75sINFOros2_control_node[2026-06-03 15:33:08.601] [info] Controller state will be published at 10 Hz. + 4.75sINFOros2_control_node[2026-06-03 15:33:08.602] [info] VelocityForceController 'on_configure' succeeded. + 4.75sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m ×2 + 4.75sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.75sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.75sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m ×2 + 4.75sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m ×2 + 4.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m ×2 + 4.81sINFOobjective_server_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 + 4.81sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 4.91sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 4.94sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 4.95sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 4.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 23539] + 5.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 5.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 23545] + 5.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 23542] + 5.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 23537] + 5.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 23533] + 5.11sINFOmove_group ×4 + 5.11sINFOmove_group[92mYou can start planning now![0m ×2 + 5.51sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/command"[0m + 5.52sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/trajectory_execution_event"[0m + 5.52sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/velocity_force_controller/controller_state"[0m + 5.52sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_velocity_controller/controller_state"[0m + 5.52sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_velocity_controller/command"[0m + 5.52sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 5.53sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_controller/controller_state"[0m + 5.53sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 5.53sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_controller/state"[0m + 5.76sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.80sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×29 + 5.85sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×30 + 6.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780500790.28801870 seconds. + 6.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780500790.29821968 seconds + 6.66sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m ×2 + 6.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780500790.84688449 seconds. + 7.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×16 + 7.18sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 8.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780500791.95701981 seconds + 8.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780500792.53899789 seconds. + 9.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780500793.54915237 seconds + 10.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780500794.11765790 seconds. + 10.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780500794.13780785 seconds + 10.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780500794.69582701 seconds. + 10.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780500794.84632874 seconds + 11.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780500795.51401520 seconds. + 11.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 11.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 11.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 11.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780500795.55414915 seconds + 12.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780500796.11988711 seconds. + 12.30sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 12.39sINFOobjective_server_nodeFound path in 0 iterations (1.7191e-05 s). + 12.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×5 + 12.40sINFOros2_control_node[2026-06-03 15:33:16.255] [info] Received new action goal + 12.40sINFOros2_control_node[2026-06-03 15:33:16.255] [info] Accepted new action goal + 14.09sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.38% of iterations over budget over 0:10.000 of wall time (12/3153). Below 1% is expected on a non-realtime system.[0m + 14.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×31 + 14.90sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×7 + 14.90sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 14.93sINFOros2_control_node[2026-06-03 15:33:18.780] [info] Received new action goal + 14.93sINFOros2_control_node[2026-06-03 15:33:18.780] [info] Accepted new action goal + 18.66sINFOros2_control_node[2026-06-03 15:33:22.514] [info] Received new action goal + 18.66sINFOros2_control_node[2026-06-03 15:33:22.514] [info] Accepted new action goal + 21.99sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 21.99sINFOobjective_server_nodePath shortcutter: [X_________________X] ×3 + 22.00sINFOros2_control_node[2026-06-03 15:33:25.855] [info] Received new action goal + 22.00sINFOros2_control_node[2026-06-03 15:33:25.855] [info] Accepted new action goal + 22.42sINFOros2_control_node[2026-06-03 15:33:26.271] [info] Got request to cancel active goal. + 22.42sINFOros2_control_node[2026-06-03 15:33:26.272] [info] Canceling active goal... + 22.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780500806.29664111 seconds + 23.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780500806.91091895 seconds. + 23.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780500807.02108788 seconds + 23.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780500807.58225965 seconds. + 23.81sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 24.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 24.90sINFOobjective_server_nodePath shortcutter: [X______X] ×6 + 24.91sINFOros2_control_node[2026-06-03 15:33:28.766] [info] Received new action goal + 24.91sINFOros2_control_node[2026-06-03 15:33:28.766] [info] Accepted new action goal + 50.52sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 51.03sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 53.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 53.95sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 54.07sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 54.24sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 54.24sINFOobjective_server_nodePath shortcutter: [X___________X] + 54.25sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×3 + 54.26sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 54.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 54.32sINFOobjective_server_nodeFound path in 1 iterations (0.00271317 s). + 54.40sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 54.46sINFOros2_control_node[2026-06-03 15:33:58.310] [info] Received new action goal + 54.46sINFOros2_control_node[2026-06-03 15:33:58.310] [info] Accepted new action goal + 56.99sINFOros2_control_node[2026-06-03 15:34:00.839] [info] Received new action goal + 56.99sINFOros2_control_node[2026-06-03 15:34:00.839] [info] Accepted new action goal + 58.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×7 + 58.79sINFOros2_control_node[2026-06-03 15:34:02.646] [info] Received new action goal + 58.79sINFOros2_control_node[2026-06-03 15:34:02.646] [info] Accepted new action goal + 60.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780500844.03242540 seconds + 60.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780500844.61073780 seconds. + 60.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780500844.69992781 seconds + 61.15sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 61.54sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780500845.39562082 seconds. + 61.64sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 61.64sINFOobjective_server_nodePath shortcutter: [X_____________X] + 61.65sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 61.66sINFOros2_control_node[2026-06-03 15:34:05.509] [info] Received new action goal + 61.66sINFOros2_control_node[2026-06-03 15:34:05.509] [info] Accepted new action goal + 64.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 65.01sINFOros2_control_node[2026-06-03 15:34:08.860] [info] Received new action goal + 65.01sINFOros2_control_node[2026-06-03 15:34:08.860] [info] Accepted new action goal + 67.34sINFOros2_control_node[2026-06-03 15:34:11.197] [info] Received new action goal + 67.34sINFOros2_control_node[2026-06-03 15:34:11.197] [info] Accepted new action goal + 69.68sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 69.69sINFOros2_control_node[2026-06-03 15:34:13.547] [info] Received new action goal + 69.69sINFOros2_control_node[2026-06-03 15:34:13.547] [info] Accepted new action goal + 72.02sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 72.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780500855.87501955 seconds + 72.63sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780500856.48799086 seconds. + 72.72sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 72.72sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 73.84sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 73.85sINFOros2_control_node[2026-06-03 15:34:17.701] [info] Received new action goal + 73.85sINFOros2_control_node[2026-06-03 15:34:17.701] [info] Accepted new action goal + 74.09sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.40% of iterations over budget over 1:10.003 of wall time (87/21497). Below 1% is expected on a non-realtime system.[0m + 83.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780500866.84843206 seconds + 83.59sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780500867.43794727 seconds. + 83.78sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 83.79sINFOros2_control_node[2026-06-03 15:34:27.641] [info] Received new action goal + 83.79sINFOros2_control_node[2026-06-03 15:34:27.642] [info] Accepted new action goal + 83.81sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 86.33sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 86.83sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 88.77sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 88.78sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 88.78sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 88.83sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 88.84sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 88.86sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 88.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 88.93sINFOobjective_server_nodeFound path in 1 iterations (0.00284143 s). + 89.02sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 89.04sINFOobjective_server_nodeFound path in 1 iterations (0.00356813 s). + 89.12sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 89.13sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 89.22sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 89.26sINFOros2_control_node[2026-06-03 15:34:33.115] [info] Received new action goal + 89.26sINFOros2_control_node[2026-06-03 15:34:33.115] [info] Accepted new action goal + 92.01sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 92.01sINFOobjective_server_nodePath shortcutter: [X_X] + 92.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 92.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 92.03sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 92.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 92.09sINFOobjective_server_nodeFound path in 1 iterations (0.00261437 s). + 92.19sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 92.23sINFOros2_control_node[2026-06-03 15:34:36.085] [info] Received new action goal + 92.23sINFOros2_control_node[2026-06-03 15:34:36.085] [info] Accepted new action goal + 92.67sINFOros2_control_node[2026-06-03 15:34:36.527] [info] Received new action goal + 92.67sINFOros2_control_node[2026-06-03 15:34:36.527] [info] Accepted new action goal + 94.00sINFOros2_control_node[2026-06-03 15:34:37.849] [info] Got request to cancel active goal. + 94.00sINFOros2_control_node[2026-06-03 15:34:37.849] [info] Canceling active goal... + 94.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780500877.85797095 seconds + 94.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780500878.52383184 seconds. + 94.83sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 94.83sINFOros2_control_node[2026-06-03 15:34:38.687] [info] Received new action goal + 94.83sINFOros2_control_node[2026-06-03 15:34:38.687] [info] Accepted new action goal + 94.96sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 94.96sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 97.25sINFOros2_control_node[2026-06-03 15:34:41.101] [info] Received new action goal + 97.25sINFOros2_control_node[2026-06-03 15:34:41.101] [info] Accepted new action goal +105.81sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780500889.66364384 seconds +106.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780500890.21858144 seconds. +106.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m +106.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m +106.44sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780500890.29875803 seconds +107.02sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780500890.86894774 seconds. +107.14sINFOros2_control_node[2026-06-03 15:34:50.992] [info] Received new action goal +107.14sINFOros2_control_node[2026-06-03 15:34:50.992] [info] Accepted new action goal +109.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780500892.99907589 seconds +109.72sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780500893.57532501 seconds. +109.84sINFOros2_control_node[2026-06-03 15:34:53.689] [info] Received new action goal +109.84sINFOros2_control_node[2026-06-03 15:34:53.690] [info] Accepted new action goal +110.12sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m +115.80sINFOobjective_server_node[0;93m2026-06-03 15:34:59.651866431 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +115.80sINFOobjective_server_node[0;93m2026-06-03 15:34:59.651905732 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +116.40sINFOobjective_server_node[0;93m2026-06-03 15:35:00.250912350 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +116.40sINFOobjective_server_node[0;93m2026-06-03 15:35:00.250952551 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +116.55sINFOobjective_server_node[0;93m2026-06-03 15:35:00.406162040 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +116.56sINFOobjective_server_node[0;93m2026-06-03 15:35:00.409786838 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +116.56sINFOobjective_server_node[0;93m2026-06-03 15:35:00.409830590 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +116.95sINFOobjective_server_node[0;93m2026-06-03 15:35:00.799342208 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +116.96sINFOobjective_server_node[0;93m2026-06-03 15:35:00.818277261 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +116.96sINFOobjective_server_node[0;93m2026-06-03 15:35:00.818321432 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +118.33sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780500902.18368387 seconds +118.68sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m +119.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780500902.87306380 seconds. +119.19sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +119.19sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m +119.65sINFOobjective_server_node[0;93m2026-06-03 15:35:03.503440757 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +119.65sINFOobjective_server_node[0;93m2026-06-03 15:35:03.503484738 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +120.14sINFOobjective_server_node[0;93m2026-06-03 15:35:03.995741894 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +120.14sINFOobjective_server_node[0;93m2026-06-03 15:35:03.995785125 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +120.28sINFOobjective_server_node[0;93m2026-06-03 15:35:04.131610021 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +120.28sINFOobjective_server_node[0;93m2026-06-03 15:35:04.134889711 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +120.28sINFOobjective_server_node[0;93m2026-06-03 15:35:04.134925372 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +120.63sINFOobjective_server_node[0;93m2026-06-03 15:35:04.489093186 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +120.65sINFOobjective_server_node[0;93m2026-06-03 15:35:04.506828911 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +120.65sINFOobjective_server_node[0;93m2026-06-03 15:35:04.506883512 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +121.56sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780500905.41792488 seconds +121.72sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m +122.20sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780500906.05243015 seconds. +122.22sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +122.28sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 +122.30sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 +122.57sINFOobjective_server_nodePath shortcutter: [X____________X] ×3 +122.61sINFOros2_control_node[2026-06-03 15:35:06.458] [info] Received new action goal +122.61sINFOros2_control_node[2026-06-03 15:35:06.459] [info] Accepted new action goal +122.72sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m +125.47sINFOros2_control_node[2026-06-03 15:35:09.314] [info] Received new action goal +125.47sINFOros2_control_node[2026-06-03 15:35:09.314] [info] Accepted new action goal +128.63sINFOros2_control_node[2026-06-03 15:35:12.480] [info] Received new action goal +128.63sINFOros2_control_node[2026-06-03 15:35:12.480] [info] Accepted new action goal +131.64sINFOros2_control_node[2026-06-03 15:35:15.498] [info] Received new action goal +131.64sINFOros2_control_node[2026-06-03 15:35:15.498] [info] Accepted new action goal +134.09sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.46% of iterations over budget over 2:10.004 of wall time (184/39804). Below 1% is expected on a non-realtime system.[0m +134.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×5 +142.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 +143.09sINFOros2_control_node[2026-06-03 15:35:26.946] [info] Received new action goal +143.09sINFOros2_control_node[2026-06-03 15:35:26.946] [info] Accepted new action goal +144.28sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 +144.29sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 +144.57sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). +144.60sINFOros2_control_node[2026-06-03 15:35:28.451] [info] Received new action goal +144.60sINFOros2_control_node[2026-06-03 15:35:28.451] [info] Accepted new action goal +146.89sINFOobjective_server_nodeFound path in 0 iterations (1.97e-06 s). +146.92sINFOros2_control_node[2026-06-03 15:35:30.769] [info] Received new action goal +146.92sINFOros2_control_node[2026-06-03 15:35:30.769] [info] Accepted new action goal +149.96sINFOros2_control_node[2026-06-03 15:35:33.817] [info] Received new action goal +149.96sINFOros2_control_node[2026-06-03 15:35:33.817] [info] Accepted new action goal +152.58sINFOros2_control_node[2026-06-03 15:35:36.429] [info] Received new action goal +152.58sINFOros2_control_node[2026-06-03 15:35:36.429] [info] Accepted new action goal +163.52sINFOros2_control_node[2026-06-03 15:35:47.376] [info] Received new action goal +163.52sINFOros2_control_node[2026-06-03 15:35:47.376] [info] Accepted new action goal +164.68sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780500948.53262353 seconds +165.40sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780500949.25224996 seconds. +165.74sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +166.63sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +166.64sINFOobjective_server_nodePath shortcutter: [X__________________________X] +166.67sINFOros2_control_node[2026-06-03 15:35:50.523] [info] Received new action goal +166.67sINFOros2_control_node[2026-06-03 15:35:50.523] [info] Accepted new action goal +172.75sINFOobjective_server_nodePath shortcutter: [X________________________X] +172.78sINFOros2_control_node[2026-06-03 15:35:56.630] [info] Received new action goal +172.78sINFOros2_control_node[2026-06-03 15:35:56.630] [info] Accepted new action goal +176.39sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780500960.24242425 seconds +177.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780500960.89689755 seconds. +177.19sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). +177.20sINFOobjective_server_nodePath shortcutter: [X___X] +177.21sINFOros2_control_node[2026-06-03 15:36:01.061] [info] Received new action goal +177.21sINFOros2_control_node[2026-06-03 15:36:01.061] [info] Accepted new action goal +177.33sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m +178.48sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 +178.49sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. +181.43sINFOros2_control_nodeReceived new action goal[0m ×2759 +181.43sINFOros2_control_nodeAccepted new action goal[0m ×2723 +185.56sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 +185.66sINFOros2_control_nodeGoal reached, success![0m ×169 +193.26sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 +194.09sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.62% of iterations over budget over 3:10.008 of wall time (359/58048). Below 1% is expected on a non-realtime system.[0m +208.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780500991.91893291 seconds +208.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780500992.51098919 seconds. +208.80sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: 'Found a self-collision involving the bodies 'forearm_link <-> shoulder_link'. Colliding links define a padding value of 0.01 m.' +208.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` did not succeed at time: 1780500992.65120721 seconds +209.59sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780500993.44149947 seconds. +209.67sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m +209.72sINFOros2_control_node[2026-06-03 15:36:33.575] [info] Received new action goal +209.72sINFOros2_control_node[2026-06-03 15:36:33.575] [info] Accepted new action goal +212.37sINFOros2_control_node[2026-06-03 15:36:36.228] [info] Received new action goal +212.37sINFOros2_control_node[2026-06-03 15:36:36.228] [info] Accepted new action goal +214.76sINFOros2_control_node[2026-06-03 15:36:38.609] [info] Received new action goal +214.76sINFOros2_control_node[2026-06-03 15:36:38.609] [info] Accepted new action goal +219.76sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures"[0m +220.27sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +229.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501012.936218)[0m +229.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501013.316218)[0m +229.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501013.596218)[0m +229.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501013.736218)[0m +230.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501014.356218)[0m +230.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501014.376218)[0m +230.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501014.386218)[0m +230.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501014.396218)[0m +230.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501014.836218)[0m +231.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501014.936218)[0m +231.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501014.986218)[0m +231.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501014.996218)[0m +231.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501015.126218)[0m +231.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501015.186218)[0m +231.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501015.606218)[0m +231.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501015.636218)[0m +231.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501015.646218)[0m +231.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501015.826218)[0m +231.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501015.836218)[0m +232.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501015.846218)[0m +232.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501016.236218)[0m +232.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501016.316218)[0m +232.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501016.476218)[0m +232.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501016.506218)[0m +232.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501016.596218)[0m +232.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501016.636218)[0m +232.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501016.776218)[0m +233.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501016.946218)[0m +233.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501017.106218)[0m +233.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501017.126218)[0m +233.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501017.136218)[0m +233.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501017.286218)[0m +233.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501017.296218)[0m ×2 +233.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501017.306218)[0m +233.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780501006.526218) that ends in the past (1780501017.316218)[0m +233.65sERRORros2_control_nodeStack trace (most recent call last) in thread 24003: +233.66sINFOros2_control_node#9 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +233.66sINFOros2_control_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe957e59a83, in __clone +233.66sINFOros2_control_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe957dc8ac2, in +233.66sINFOros2_control_node#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fe95805b252, in +233.66sINFOros2_control_node#5 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55fcf861d2e1, in +233.66sINFOros2_control_node#4 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7fe95849330a, in controller_manager::ControllerManager::update(rclcpp::Time const&, rclcpp::Duration const&) +233.66sINFOros2_control_node#3 Object "/opt/ros/humble/lib/libjoint_trajectory_controller.so", at 0x7fe8f80aa42b, in joint_trajectory_controller::JointTrajectoryController::update(rclcpp::Time const&, rclcpp::Duration const&) +233.66sINFOros2_control_node#2 Object "/opt/ros/humble/lib/libjoint_trajectory_controller.so", at 0x7fe8f80b82c7, in joint_trajectory_controller::JointTrajectoryController::set_success_trajectory_point() +233.66sINFOros2_control_node#1 Object "/opt/ros/humble/lib/libjoint_trajectory_controller.so", at 0x7fe8f80e9519, in +233.66sINFOros2_control_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe957ed4815, in +233.66sERRORros2_control_nodeSegmentation fault (Signal sent by the kernel [(nil)]) +234.03sERRORros2_control_node-1process has died [pid 23529, exit code -11, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_728g0l_x --params-file /tmp/launch_params_wr7lw0tq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3djml4rt --params-file /tmp/launch_params_5h83z6o7']. +239.94sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780501023.79145503 seconds +244.01sINFOfoxglove_bridgeRemoving channel 55 for topic "/joint_trajectory_controller/state" (control_msgs/msg/JointTrajectoryControllerState)[0m +244.01sINFOfoxglove_bridgeRemoving channel 54 for topic "/joint_trajectory_admittance_controller/controller_state" (control_msgs/msg/JointTrajectoryControllerState)[0m +244.01sINFOfoxglove_bridgeRemoving channel 53 for topic "/joint_trajectory_controller/controller_state" (control_msgs/msg/JointTrajectoryControllerState)[0m +244.01sINFOfoxglove_bridgeRemoving channel 52 for topic "/joint_trajectory_controller/joint_trajectory" (trajectory_msgs/msg/JointTrajectory)[0m +244.01sINFOfoxglove_bridgeRemoving channel 51 for topic "/joint_velocity_controller/command" (control_msgs/msg/JointJog)[0m +244.01sINFOfoxglove_bridgeRemoving channel 50 for topic "/joint_velocity_controller/controller_state" (moveit_pro_controllers_msgs/msg/JointVelocityControllerState)[0m +244.01sINFOfoxglove_bridgeRemoving channel 49 for topic "/velocity_force_controller/controller_state" (moveit_pro_controllers_msgs/msg/VelocityForceControllerState)[0m +244.01sINFOfoxglove_bridgeRemoving channel 47 for topic "/velocity_force_controller/command" (moveit_pro_controllers_msgs/msg/VelocityForceCommand)[0m +244.01sINFOfoxglove_bridgeRemoving channel 46 for topic "/wrist_camera/depth" (sensor_msgs/msg/Image)[0m +244.01sINFOfoxglove_bridgeRemoving channel 45 for topic "/wrist_camera/camera_info" (sensor_msgs/msg/CameraInfo)[0m +244.01sINFOfoxglove_bridgeRemoving channel 44 for topic "/wrist_camera/points" (sensor_msgs/msg/PointCloud2)[0m +244.01sINFOfoxglove_bridgeRemoving channel 43 for topic "/joint_trajectory_admittance_controller/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +244.01sINFOfoxglove_bridgeRemoving channel 40 for topic "/scene_camera/color" (sensor_msgs/msg/Image)[0m +244.01sINFOfoxglove_bridgeRemoving channel 39 for topic "/dynamic_joint_states" (control_msgs/msg/DynamicJointState)[0m +244.01sINFOfoxglove_bridgeRemoving channel 37 for topic "/force_torque_sensor_broadcaster/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +244.01sINFOfoxglove_bridgeRemoving channel 36 for topic "/force_torque_sensor_broadcaster/wrench" (geometry_msgs/msg/WrenchStamped)[0m +244.01sINFOfoxglove_bridgeRemoving channel 35 for topic "/wrist_camera/color" (sensor_msgs/msg/Image)[0m +244.01sINFOfoxglove_bridgeRemoving channel 34 for topic "/joint_state_broadcaster/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +244.01sINFOfoxglove_bridgeRemoving channel 33 for topic "/joint_trajectory_controller/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +244.01sINFOfoxglove_bridgeRemoving channel 32 for topic "/joint_velocity_controller/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +244.01sINFOfoxglove_bridgeRemoving channel 30 for topic "/scene_camera/depth" (sensor_msgs/msg/Image)[0m +244.01sINFOfoxglove_bridgeRemoving channel 26 for topic "/scene_camera/camera_info" (sensor_msgs/msg/CameraInfo)[0m +244.01sINFOfoxglove_bridgeRemoving channel 27 for topic "/velocity_force_controller/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +244.01sINFOfoxglove_bridgeRemoving channel 28 for topic "/scene_camera/points" (sensor_msgs/msg/PointCloud2)[0m +244.01sINFOfoxglove_bridgeRemoving channel 29 for topic "/robotiq_gripper_controller/transition_event" (lifecycle_msgs/msg/TransitionEvent)[0m +300.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +305.86sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +305.87sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +305.87sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +305.87sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +305.87sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +305.87sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +305.87sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +305.87sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +305.87sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +305.87sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +305.87sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +305.88sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +305.88sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] +305.88sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] +305.89sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] +305.90sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] +305.90sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] +305.91sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +305.91sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +305.92sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +305.93sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +305.94sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +305.94sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +305.95sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +305.95sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +305.96sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +305.96sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m +305.96sINFOfoxglove_bridgeShutting down foxglove_bridge[0m +305.96sERRORui_teleop_bridgeTraceback (most recent call last): +305.96sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +305.96sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +305.96sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.10/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main +305.96sINFOui_teleop_bridgerclpy.shutdown() +305.96sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown +305.96sINFOui_teleop_bridge_shutdown(context=context) +305.96sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown +305.96sINFOui_teleop_bridgereturn context.shutdown() +305.96sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown +305.96sINFOui_teleop_bridgeself.__context.shutdown() +305.96sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 +306.10sINFOtf2_web_republisher_node-19process has finished cleanly [pid 23606] +306.10sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system +306.10sINFOweb_video_server-20process has finished cleanly [pid 23613] +306.10sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +306.13sERRORui_teleop_bridge-17process has died [pid 23602, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_im7dfibv']. +306.13sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 23594] +306.14sINFOmove_joint_resampler_node-12process has finished cleanly [pid 23592] +306.15sINFOobjective_server_node[0;m[2026-06-03 15:38:10.002] [moveit_pro_license] [info] +306.15sINFOobjective_server_node* Application has successfully terminated +306.16sINFOparameter_manager_node-10process has finished cleanly [pid 23552] +306.16sINFOexecute_objective_bridge-16process has finished cleanly [pid 23600] +306.16sINFOwaypoint_manager_node-11process has finished cleanly [pid 23590] +306.21sINFOobjective_server_nodecorrupted double-linked list +306.21sERRORobjective_server_nodeStack trace (most recent call last) in thread 23997: +306.22sINFOcomponent_container_mt-15process has finished cleanly [pid 23598] +306.23sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +306.23sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e297ba83, in __clone +306.23sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e28eaac2, in +306.23sINFOobjective_server_node#12 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7fe1bd07c21b, in +306.23sINFOobjective_server_node#11 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7fe1bd030674, in +306.23sINFOobjective_server_node#10 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7fe1bd01f339, in +306.23sINFOobjective_server_node#9 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7fe1bd00fede, in +306.23sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e28fb452, in free +306.23sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e28f8e9f, in +306.23sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e28f7968, in +306.23sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e28f77cb, in +306.23sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e28f6cfb, in +306.23sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e28df676, in +306.23sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e287e7f2, in abort +306.23sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e2898475, in raise +306.23sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e28ec9fc, in pthread_kill +306.23sERRORobjective_server_nodeAborted (Signal sent by tkill() 23596 0) +306.31sINFOfoxglove_bridgeShutdown complete[0m +306.98sERRORobjective_server_node_main-14process has died [pid 23596, 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_g1eelis4 --params-file /tmp/launch_params_dbfg6u4g --params-file /tmp/launch_params_lbxzck4k --params-file /tmp/launch_params_qd8dy95h --params-file /tmp/launch_params_v11yhmba --params-file /tmp/launch_params_or5rxcme']. +306.98sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +307.26sINFOmove_group-9process has finished cleanly [pid 23548] +307.94sINFOfoxglove_bridge-18process has finished cleanly [pid 23604] +307.94sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system +311.65sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-03-15-38-14-809300-c8becbf9d269-24709 +313.30sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +313.32sINFOros2_control_node-1process started with pid [24739] +313.32sINFOmove_group-9process started with pid [24758] +313.32sINFOparameter_manager_node-10process started with pid [24761] +313.32sINFOwaypoint_manager_node-11process started with pid [24800] +313.32sINFOmove_joint_resampler_node-12process started with pid [24802] +313.32sINFOmove_end_effector_resampler_node-13process started with pid [24804] +313.32sINFOobjective_server_node_main-14process started with pid [24806] +313.32sINFOcomponent_container_mt-15process started with pid [24808] +313.32sINFOexecute_objective_bridge-16process started with pid [24810] +313.32sINFOui_teleop_bridge-17process started with pid [24812] +313.32sINFOfoxglove_bridge-18process started with pid [24814] +313.32sINFOtf2_web_republisher_node-19process started with pid [24834] +313.32sINFOweb_video_server-20process started with pid [24851] +313.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [24741] +313.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [24743] +313.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [24745] +313.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [24747] +313.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [24749] +313.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [24752] +313.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [24755] +313.39sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +313.52sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) +313.53sINFOfoxglove_bridgeServer listening on port 3201 +313.54sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" +313.56sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" +313.60sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" +313.60sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m +313.66sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state" +313.66sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state"[0m +313.66sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" +313.66sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m +313.67sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/move_joint" +313.67sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/move_joint"[0m +313.67sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/agent_interface/move_joint" +313.67sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_end_effector" +313.67sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/agent_interface/move_joint"[0m +313.68sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_end_effector"[0m +313.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +313.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +313.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +313.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +313.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +313.68sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +313.69sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +313.69sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +313.69sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +314.29sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +314.39sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... +314.41sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +314.41sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf_static" +314.42sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf_static"[0m +314.42sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description_semantic" +314.42sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description_semantic"[0m +314.42sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +314.43sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +314.45sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... +314.46sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene_world" +314.49sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene" +314.49sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf" +314.49sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene"[0m +314.49sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf"[0m +314.50sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result" +314.50sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/feedback" +314.50sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel" +314.50sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/monitored_planning_scene" +314.50sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result"[0m +314.50sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/robot_description" +314.50sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m +314.50sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m +314.50sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/monitored_planning_scene"[0m +314.50sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/robot_description"[0m +314.50sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" +314.50sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m +314.50sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" +314.50sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m +314.50sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" +314.50sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" +314.51sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m +314.53sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +315.68sINFOobjective_server_node[2026-06-03 15:38:19.532] [moveit_pro_license] [info] +315.71sINFOcontroller_managerupdate rate is 600 Hz +315.72sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +315.72sWARNcontroller_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. +315.72sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +315.74sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +315.75sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' +315.75sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +315.77sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +315.79sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +315.80sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +315.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +315.83sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +315.84sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' +315.84sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +315.84sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +315.84sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +315.84sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. +315.84sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +315.84sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' +315.84sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +315.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +315.84sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. +315.84sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +315.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +315.86sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +315.89sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +315.91sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color" +315.91sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color"[0m +315.91sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/statistics" +315.91sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/scene_camera/color" +315.91sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/statistics"[0m +315.91sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/scene_camera/color"[0m +315.91sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/camera_info" +315.92sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" +315.92sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" +315.92sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m +315.92sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m +315.92sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/joint_trajectory_controller/transition_event" +315.92sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robotiq_gripper_controller/transition_event" +315.92sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/joint_trajectory_controller/transition_event"[0m +315.92sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robotiq_gripper_controller/transition_event"[0m +315.93sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/state" +315.93sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_trajectory_controller/state"[0m +315.93sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/joint_trajectory" +315.93sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_controller/controller_state" +315.93sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event" +315.93sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_trajectory_controller/joint_trajectory"[0m +315.93sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_controller/controller_state"[0m +315.93sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/failure_reason_collector" +315.93sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/failure_reason_collector"[0m +315.94sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/dynamic_joint_states" +315.94sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/dynamic_joint_states"[0m +315.94sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description" +315.94sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/wrist_camera/points" +315.94sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/wrist_camera/camera_info" +315.94sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/wrist_camera/depth" +315.94sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/description"[0m +315.94sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/wrist_camera/points"[0m +315.94sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/wrist_camera/camera_info"[0m +315.94sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/wrist_camera/depth"[0m +316.03sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +316.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' +316.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 24743] +316.12sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +316.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +316.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 24745] +316.14sINFOcontroller_managerLoading controller 'velocity_force_controller' +316.14sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +316.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 24747] +316.23sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' +316.23sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +316.23sINFOros2_control_node[2026-06-03 15:38:20.082] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +316.23sINFOros2_control_node[2026-06-03 15:38:20.082] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +316.34sINFOros2_control_node[2026-06-03 15:38:20.189] [info] First order lag filter time constant set to: 0.2 seconds +316.34sINFOros2_control_node[2026-06-03 15:38:20.189] [info] Controller state will be published at 50 Hz. +316.34sINFOros2_control_node[2026-06-03 15:38:20.196] [info] Registered `FollowJointTrajectory` action server. +316.34sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' +316.39sINFOros2_control_node[2026-06-03 15:38:20.244] [info] Controller state will be published at 20 Hz. +316.39sINFOros2_control_node[2026-06-03 15:38:20.246] [info] JointVelocityController 'on_configure' succeeded. +316.39sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' +316.40sINFOcontroller_managerConfiguring controller 'velocity_force_controller' +316.45sINFOros2_control_node[2026-06-03 15:38:20.301] [info] Controller state will be published at 10 Hz. +316.45sINFOros2_control_node[2026-06-03 15:38:20.302] [info] VelocityForceController 'on_configure' succeeded. +316.45sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +316.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 24749] +316.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 24755] +316.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 24741] +316.73sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event" +316.73sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/velocity_force_controller/transition_event"[0m +316.73sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command" +316.73sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event" +316.73sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/command"[0m +316.73sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/trajectory_execution_event"[0m +316.74sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state" +316.74sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/controller_state"[0m +316.74sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap" +316.74sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/transition_event" +316.74sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap"[0m +316.74sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_velocity_controller/transition_event"[0m +316.74sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state" +316.74sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command" +316.74sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state"[0m +316.74sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command"[0m +316.76sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers" +316.76sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_admittance_controller/controller_state" +316.76sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/visual_markers"[0m +316.76sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_admittance_controller/controller_state"[0m +316.76sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/wrench" +316.76sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/transition_event" +316.76sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/blackboard_contents" +316.76sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/wrench"[0m +316.76sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/transition_event"[0m +316.76sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/blackboard_contents"[0m +316.77sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/behavior_tree_status" +316.77sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_admittance_controller/transition_event" +316.77sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/behavior_tree_status"[0m +316.77sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_trajectory_admittance_controller/transition_event"[0m +316.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 24752] +318.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780501101.96372724 seconds. ×2 +318.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780501101.97392464 seconds ×2 +318.51sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" +318.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780501102.53124690 seconds. ×2 +318.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +319.03sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) +319.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780501103.65141106 seconds ×2 +320.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 +321.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 +322.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 +322.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780501103.65141106 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 4.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 4.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 4.41sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.42sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 4.42sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.91sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.93sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.93sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 50 info |
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780501103.65141106 seconds ×2 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 5.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 5.18sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.19sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 5.19sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 6.71sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | addtovector.xml | 0.0s | 2 warnings · 112 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/2026-06-03-15-38-14-809300-c8becbf9d269-24709 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.65sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.67sINFOros2_control_node-1process started with pid [24739] + 1.67sINFOmove_group-9process started with pid [24758] + 1.67sINFOparameter_manager_node-10process started with pid [24761] + 1.67sINFOwaypoint_manager_node-11process started with pid [24800] + 1.67sINFOmove_joint_resampler_node-12process started with pid [24802] + 1.67sINFOmove_end_effector_resampler_node-13process started with pid [24804] + 1.67sINFOobjective_server_node_main-14process started with pid [24806] + 1.67sINFOcomponent_container_mt-15process started with pid [24808] + 1.67sINFOexecute_objective_bridge-16process started with pid [24810] + 1.67sINFOui_teleop_bridge-17process started with pid [24812] + 1.67sINFOfoxglove_bridge-18process started with pid [24814] + 1.67sINFOtf2_web_republisher_node-19process started with pid [24834] + 1.67sINFOweb_video_server-20process started with pid [24851] + 1.68sINFOparameter_manager_nodeStarted parameter manager node. + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [24741] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [24743] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [24745] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [24747] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [24749] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [24752] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [24755] + 1.69sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.69sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.74sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.74sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.88sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.88sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.88sINFOfoxglove_bridgeServer listening on port 3201 + 1.88sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.89sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.90sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.91sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.92sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.95sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.95sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state" + 2.01sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" + 2.01sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m + 2.02sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/move_joint" + 2.02sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/moveit_pro_ui/move_joint"[0m + 2.02sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/agent_interface/move_joint" + 2.02sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_end_effector" + 2.03sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/agent_interface/move_joint"[0m + 2.03sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_end_effector"[0m + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.05sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 2.05sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.05sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.62sINFOros2_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. + 2.62sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.62sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.64sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.73sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.74sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.76sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.76sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf_static" + 2.77sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf_static"[0m + 2.77sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description_semantic" + 2.77sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description_semantic"[0m + 2.77sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.78sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.80sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.81sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene_world" + 2.81sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene_world"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene" + 2.84sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf" + 2.84sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene"[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/tf"[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.85sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.85sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.85sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/monitored_planning_scene" + 2.85sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/robot_description" + 2.85sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/monitored_planning_scene"[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/robot_description"[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" + 2.85sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.85sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.86sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.86sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.86sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.86sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.88sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 58 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780501101.96372724 seconds. ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780501101.97392464 seconds ×2 + 1.00sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.00sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780501102.53124690 seconds. ×2 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.52sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780501103.65141106 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 3.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 6.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 6.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 58 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780501101.96372724 seconds. ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780501101.97392464 seconds ×2 + 1.00sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.00sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780501102.53124690 seconds. ×2 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.52sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780501103.65141106 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 3.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 6.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 6.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 58 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780501101.96372724 seconds. ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780501101.97392464 seconds ×2 + 1.00sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.00sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780501102.53124690 seconds. ×2 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.52sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780501103.65141106 seconds ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 3.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 6.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 6.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 48 info |
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780501103.65141106 seconds ×2 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 5.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 5.18sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.19sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 5.19sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 6.71sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | teleoperate.xml | 0.0s | 48 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780501103.65141106 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 4.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 4.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 4.41sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.42sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 4.42sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution_jtc.xml | 0.1s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780501104.24985743 seconds. ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780501105.32004261 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780501105.88328552 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780501105.90342903 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780501106.46173859 seconds. ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780501106.61433339 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780501107.26968408 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780501107.34982395 seconds ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780501107.94426703 seconds. ×2 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (1.925e-05 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Received new action goal + 3.82sINFOros2_control_node[2026-06-03 15:38:28.069] [info] Accepted new action goal + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.48% of iterations over budget over 0:10.003 of wall time (15/3101). Below 1% is expected on a non-realtime system.[0m + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-03 15:38:30.571] [info] Accepted new action goal | ||||