118
Total objective tests
34
Objectives passed
1
Objectives failed
83
Objectives skipped
10.7s
Avg test time
97%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives1 fail30 pass54 skip
| ✕ failed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 33.8s | 6 errors · 42 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Received new action goal + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Accepted new action goal + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Got request to cancel active goal. + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Canceling active goal... + 0.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432110.39577079 seconds ×2 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432110.96114564 seconds. ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432111.09232759 seconds ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432111.67682910 seconds. ×2 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Accepted new action goal + 34.93sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 34.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780432144.86701703 seconds ×2 + 35.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432145.62542200 seconds. ×2 + 35.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432145.67556477 seconds ×2 + 36.29sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432146.23358202 seconds. ×2 + 36.41sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 36.41sINFOobjective_server_nodePath shortcutter: [X_____________X] + 36.43sINFOros2_control_node[2026-06-02 20:29:06.368] [info] Received new action goal + 36.43sINFOros2_control_node[2026-06-02 20:29:06.368] [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 | 44.4s | 58 errors · 11111 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780432258.80524874 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.57sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780432259.37578273 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X___X] + 0.76sINFOros2_control_node[2026-06-02 20:30:59.559] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-02 20:30:59.559] [info] Accepted new action goal + 2.02sINFOobjective_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 + 2.03sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.10sINFOobjective_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 + 4.96sINFOjoint_trajectory_controllerReceived new action goal ×2709 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal ×2680 + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2709 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2680 + 9.08sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.19sINFOjoint_trajectory_controllerGoal reached, success! ×144 + 9.19sINFOros2_control_nodeGoal reached, success![0m ×144 + 23.52sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.63% of iterations over budget over 3:10.007 of wall time (367/58131). Below 1% is expected on a non-realtime system.[0m + 40.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432299.724997) + 40.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432299.724997)[0m + 41.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432299.864997) + 41.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432299.864997)[0m + 41.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.044997) ×2 + 41.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.054997) + 41.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.044997)[0m ×2 + 41.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.054997)[0m + 41.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.734997) + 41.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.734997)[0m + 42.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.844997) ×2 + 42.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.844997)[0m ×2 + 42.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.884997) + 42.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.884997)[0m + 42.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.364997) + 42.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.364997)[0m + 42.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.404997) + 42.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.404997)[0m + 42.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.554997) + 42.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.554997)[0m + 42.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.574997) + 42.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.574997)[0m + 42.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.584997) + 42.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.584997)[0m + 43.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.854997) + 43.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.854997)[0m + 43.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.204997) + 43.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.204997)[0m + 43.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.254997) + 43.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.254997)[0m + 43.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.334997) + 43.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.344997) + 43.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.334997)[0m + 43.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.344997)[0m + 43.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.384997) + 43.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.384997)[0m + 43.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.394997) + 43.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.394997)[0m + 43.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.534997) + 43.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.534997)[0m + 44.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.844997) + 44.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.844997)[0m + 44.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.874997) + 44.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.874997)[0m + 44.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.894997) + 44.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.894997)[0m + 44.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.044997) + 44.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.044997)[0m + 44.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.054997) + 44.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.054997)[0m + 44.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.064997) + 44.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.074997) + 44.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.064997)[0m + 44.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.074997)[0m + 44.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780432303.19557023 seconds ×2 + 45.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780432303.82825756 seconds. ×2 + 45.08sINFOobjective_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 + 45.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 45.18sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 45.19sINFOros2_control_node[2026-06-02 20:31:43.993] [info] Received new action goal + 45.19sINFOros2_control_node[2026-06-02 20:31:43.993] [info] Accepted new action goal | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.7s | 111 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780432201.90650749 seconds. ×2 + 0.64sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538340307 [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 + 0.64sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538397449 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.13sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034638160 [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 + 1.13sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034684942 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.172673326 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175707625 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175756037 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.64sINFOobjective_server_node[0;93m2026-06-02 20:30:03.550042985 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571092167 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571143840 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.57sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780432204.48068047 seconds ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.63sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780432205.16661572 seconds. ×2 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.34sINFOobjective_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 + 3.35sINFOobjective_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 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 3.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 3.65sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Accepted new action goal + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 6.52sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Accepted new action goal + 9.73sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 9.76sINFOros2_control_node[2026-06-02 20:30:11.662] [info] Received new action goal + 9.76sINFOros2_control_node[2026-06-02 20:30:11.662] [info] Accepted new action goal + 12.72sINFOobjective_server_nodeFound path in 0 iterations (9.5e-07 s). + 12.73sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.76sINFOros2_control_node[2026-06-02 20:30:14.664] [info] Received new action goal + 12.76sINFOros2_control_node[2026-06-02 20:30:14.664] [info] Accepted new action goal + 15.72sINFOobjective_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 + 20.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.44% of iterations over budget over 2:10.004 of wall time (175/39857). Below 1% is expected on a non-realtime system.[0m + 23.25sINFOobjective_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 + 24.20sINFOros2_control_node[2026-06-02 20:30:26.095] [info] Received new action goal + 24.20sINFOros2_control_node[2026-06-02 20:30:26.095] [info] Accepted new action goal + 25.38sINFOobjective_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 + 25.39sINFOobjective_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 + 25.49sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 25.53sINFOros2_control_node[2026-06-02 20:30:27.438] [info] Received new action goal + 25.53sINFOros2_control_node[2026-06-02 20:30:27.438] [info] Accepted new action goal + 27.80sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 27.81sINFOobjective_server_nodePath shortcutter: [X__________X] + 27.82sINFOros2_control_node[2026-06-02 20:30:29.721] [info] Received new action goal + 27.82sINFOros2_control_node[2026-06-02 20:30:29.721] [info] Accepted new action goal + 30.86sINFOros2_control_node[2026-06-02 20:30:32.760] [info] Received new action goal + 30.86sINFOros2_control_node[2026-06-02 20:30:32.760] [info] Accepted new action goal + 33.45sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). + 33.45sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.51sINFOros2_control_node[2026-06-02 20:30:35.408] [info] Received new action goal + 33.51sINFOros2_control_node[2026-06-02 20:30:35.408] [info] Accepted new action goal + 44.19sINFOros2_control_node[2026-06-02 20:30:46.100] [info] Received new action goal + 44.19sINFOros2_control_node[2026-06-02 20:30:46.100] [info] Accepted new action goal + 45.35sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780432247.25681806 seconds ×2 + 46.11sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780432248.01902008 seconds. ×2 + 47.33sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 47.34sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 47.35sINFOros2_control_node[2026-06-02 20:30:49.256] [info] Received new action goal + 47.35sINFOros2_control_node[2026-06-02 20:30:49.256] [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 | 35.7s | 698 errors · 6849 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×904 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×904 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×1425 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×1076 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×1425 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×1076 + 0.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.015049) + 0.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.015049)[0m + 0.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.025049) + 0.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.025049)[0m + 0.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.055049) + 0.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.055049)[0m + 0.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.175049) + 0.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.175049)[0m + 0.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.215049) + 0.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.225049) + 0.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.215049)[0m + 0.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.225049)[0m + 0.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.255049) + 0.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.255049)[0m + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.395049) + 0.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.395049)[0m + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.415049) ×2 + 0.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.415049)[0m ×2 + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.425049) + 0.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.425049)[0m + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.435049) + 0.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.435049)[0m + 0.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.475049) + 0.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.475049)[0m + 0.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.765049) + 0.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.765049)[0m + 0.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.815049) + 0.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.815049)[0m + 0.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.835049) + 0.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.835049)[0m + 0.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.865049) + 0.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.865049)[0m + 1.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.915049) + 1.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.915049)[0m + 1.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.045049) + 1.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.045049)[0m + 1.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.065049) + 1.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.065049)[0m + 1.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.085049) ×2 + 1.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.085049)[0m ×2 + 1.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.105049) + 1.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.105049)[0m + 1.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.165049) + 1.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.165049)[0m + 1.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.185049) + 1.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.195049) + 1.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.185049)[0m + 1.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.195049)[0m + 1.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.225049) + 1.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.225049)[0m + 1.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.245049) + 1.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.245049)[0m + 1.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.325049) + 1.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.325049)[0m + 1.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.355049) + 1.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.355049)[0m + 1.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.375049) + 1.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.375049)[0m + 1.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.505049) + 1.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.505049)[0m + 1.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.525049) + 1.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.525049)[0m + 1.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.555049) + 1.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.555049)[0m + 1.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.575049) ×2 + 1.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.575049)[0m ×2 + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.675049) + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.675049)[0m + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.685049) + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.685049)[0m + 1.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.715049) + 1.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.715049)[0m + 1.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.735049) + 1.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.735049)[0m + 1.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.875049) + 1.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.875049)[0m + 1.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.885049) + 1.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.885049)[0m + 2.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.905049) + 2.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.905049)[0m + 2.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.915049) ×2 + 2.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.915049)[0m ×2 + 2.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.965049) + 2.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.965049)[0m + 2.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.155049) ×2 + 2.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.155049)[0m ×2 + 2.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.235049) + 2.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.235049)[0m + 2.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.255049) + 2.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.255049)[0m + 2.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.305049) + 2.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.305049)[0m + 2.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.325049) + 2.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.325049)[0m + 2.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.345049) + 2.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.345049)[0m + 2.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.385049) + 2.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.385049)[0m + 2.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.405049) + 2.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.405049)[0m + 2.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.425049) + 2.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.425049)[0m + 2.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.515049) + 2.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.515049)[0m + 2.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.545049) + 2.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.545049)[0m + 2.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.575049) + 2.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.575049)[0m + 2.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.635049) + 2.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.645049) + 2.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.655049) + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.635049)[0m + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.645049)[0m + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.655049)[0m + 2.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.685049) + 2.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.685049)[0m + 2.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.705049) + 2.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.715049) + 2.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.705049)[0m + 2.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.715049)[0m + 2.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.815049) + 2.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.815049)[0m + 2.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.835049) + 2.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.835049)[0m + 2.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.855049) + 2.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.855049)[0m + 3.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780432327.97939324 seconds ×2 + 3.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.975049) + 3.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.975049)[0m + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432328.005049) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432328.005049)[0m + 3.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432328.045049) + 3.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432328.045049)[0m + 3.77sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780432328.67381740 seconds. ×2 + 3.84sINFOobjective_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.96sINFOros2_control_node[2026-06-02 20:32:08.869] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-02 20:32:08.869] [info] Accepted new action goal + 11.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 11.05sINFOros2_control_node[2026-06-02 20:32:15.957] [info] Received new action goal + 11.05sINFOros2_control_node[2026-06-02 20:32:15.957] [info] Accepted new action goal + 14.77sINFOros2_control_node[2026-06-02 20:32:19.673] [info] Received new action goal + 14.77sINFOros2_control_node[2026-06-02 20:32:19.673] [info] Accepted new action goal + 17.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.73% of iterations over budget over 4:10.010 of wall time (560/76201). Below 1% is expected on a non-realtime system.[0m + 18.67sINFOobjective_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 + 18.72sINFOobjective_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 + 21.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432346.692852) + 21.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432346.692852)[0m + 22.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432346.992852) + 22.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432346.992852)[0m + 22.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.012852) + 22.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.022852) + 22.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.012852)[0m + 22.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.022852)[0m + 22.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.032852) + 22.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.032852)[0m + 22.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.092852) ×2 + 22.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.092852)[0m ×2 + 22.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.322852) + 22.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.322852)[0m + 22.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.402852) + 22.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.402852)[0m + 22.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.452852) + 22.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.452852)[0m + 22.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.522852) + 22.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.522852)[0m + 22.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.592852) + 22.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.592852)[0m + 22.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.612852) + 22.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.612852)[0m + 22.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.642852) + 22.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.642852)[0m + 22.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.662852) + 22.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.662852)[0m + 22.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.742852) ×2 + 22.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.742852)[0m ×2 + 22.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.782852) + 22.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.792852) + 22.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.782852)[0m + 22.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.792852)[0m + 22.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.812852) ×2 + 22.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432347.812852)[0m ×2 + 23.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.102852) ×2 + 23.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.102852)[0m ×2 + 23.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.182852) + 23.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.182852)[0m + 23.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.202852) ×2 + 23.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.202852)[0m ×2 + 23.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.262852) ×2 + 23.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.262852)[0m ×2 + 23.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.412852) + 23.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.412852)[0m + 23.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.432852) + 23.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.442852) + 23.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.432852)[0m + 23.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.442852)[0m + 23.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.452852) ×2 + 23.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.452852)[0m ×2 + 23.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.462852) + 23.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.462852)[0m + 23.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.832852) + 23.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.832852)[0m + 23.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.852852) + 23.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.852852)[0m + 23.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.862852) + 23.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.862852)[0m + 24.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.902852) + 24.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.912852) + 24.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.902852)[0m + 24.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432348.912852)[0m + 24.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.052852) + 24.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.052852)[0m + 24.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.062852) + 24.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.072852) + 24.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.062852)[0m + 24.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.072852)[0m + 24.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.092852) + 24.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.092852)[0m + 24.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.102852) + 24.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.102852)[0m + 24.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.192852) + 24.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.192852)[0m + 24.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.202852) + 24.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.202852)[0m + 24.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.222852) + 24.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.222852)[0m + 24.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.242852) + 24.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.242852)[0m + 24.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.272852) + 24.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.272852)[0m + 24.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.352852) ×2 + 24.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.352852)[0m ×2 + 24.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.512852) + 24.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.512852)[0m + 24.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.532852) + 24.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.532852)[0m + 24.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.542852) + 24.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.552852) + 24.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.542852)[0m + 24.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.552852)[0m + 24.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.642852) + 24.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.642852)[0m + 24.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.662852) + 24.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.662852)[0m + 24.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.682852) + 24.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.682852)[0m + 24.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.692852) + 24.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.702852) + 24.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.692852)[0m + 24.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.702852)[0m + 24.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.852852) + 24.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.852852)[0m + 24.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.872852) + 24.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.872852)[0m + 24.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.882852) + 24.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.882852)[0m + 25.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.892852) + 25.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.902852) + 25.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.892852)[0m + 25.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432349.902852)[0m + 25.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.102852) + 25.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.102852)[0m + 25.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.282852) + 25.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.282852)[0m + 25.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.492852) + 25.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.492852)[0m + 25.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.532852) + 25.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.532852)[0m + 25.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.612852) + 25.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.612852)[0m + 25.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.632852) + 25.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.632852)[0m + 25.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.652852) + 25.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.652852)[0m + 25.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.672852) + 25.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.672852)[0m + 25.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.682852) + 25.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.682852)[0m + 25.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.692852) + 25.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.692852)[0m + 25.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.772852) + 25.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432350.772852)[0m + 26.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.082852) + 26.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.082852)[0m + 26.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.102852) + 26.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.102852)[0m + 26.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.122852) + 26.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.122852)[0m + 26.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.142852) + 26.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.142852)[0m + 26.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.152852) + 26.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.152852)[0m + 26.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.312852) ×2 + 26.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.312852)[0m ×2 + 26.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.332852) + 26.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.332852)[0m + 26.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.342852) ×2 + 26.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.342852)[0m ×2 + 26.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.402852) + 26.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.402852)[0m + 26.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.512852) + 26.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.512852)[0m + 26.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.662852) + 26.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.662852)[0m + 26.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.752852) + 26.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.752852)[0m + 27.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.942852) + 27.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.942852)[0m + 27.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.982852) ×2 + 27.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432351.982852)[0m ×2 + 27.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.002852) + 27.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.002852)[0m + 27.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.092852) + 27.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.102852) + 27.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.092852)[0m + 27.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.102852)[0m + 27.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.122852) + 27.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.122852)[0m + 27.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.142852) + 27.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.152852) + 27.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.142852)[0m + 27.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.152852)[0m + 27.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.232852) + 27.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.232852)[0m + 27.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.532852) + 27.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.532852)[0m + 27.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.762852) + 27.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.772852) + 27.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.762852)[0m + 27.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.772852)[0m + 27.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.782852) + 27.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.792852) + 27.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.782852)[0m + 27.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.792852)[0m + 28.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.962852) + 28.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432352.962852)[0m + 28.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.112852) + 28.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.112852)[0m + 28.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.172852) + 28.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.172852)[0m + 28.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.392852) + 28.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.392852)[0m + 28.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.432852) + 28.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.432852)[0m + 28.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.442852) + 28.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.452852) + 28.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.442852)[0m + 28.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.452852)[0m + 28.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.522852) + 28.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.522852)[0m + 28.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.542852) + 28.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.552852) + 28.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.542852)[0m + 28.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.552852)[0m + 28.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.572852) + 28.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.572852)[0m + 28.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.592852) + 28.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.592852)[0m + 28.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.602852) + 28.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.612852) + 28.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.602852)[0m + 28.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.612852)[0m + 28.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.692852) + 28.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.692852)[0m + 28.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.702852) + 28.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.702852)[0m + 28.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.882852) + 28.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.882852)[0m + 28.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.892852) + 28.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.892852)[0m + 29.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.912852) + 29.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432353.912852)[0m + 29.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.022852) + 29.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.022852)[0m + 29.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.042852) ×2 + 29.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.042852)[0m ×2 + 29.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.062852) + 29.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.062852)[0m + 29.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.212852) + 29.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.212852)[0m + 29.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.232852) + 29.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.232852)[0m + 29.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.242852) + 29.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.242852)[0m + 29.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.252852) + 29.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.262852) + 29.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.252852)[0m + 29.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.262852)[0m + 29.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.442852) + 29.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.442852)[0m + 29.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.462852) + 29.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.462852)[0m + 29.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.612852) + 29.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.612852)[0m + 29.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.632852) + 29.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.632852)[0m + 29.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.652852) + 29.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.652852)[0m + 29.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.682852) + 29.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.692852) + 29.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.682852)[0m + 29.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.692852)[0m + 29.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.832852) + 29.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.832852)[0m + 29.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.842852) + 29.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.852852) + 29.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.842852)[0m + 29.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.852852)[0m + 29.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.872852) + 29.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.872852)[0m + 29.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.892852) ×2 + 29.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.892852)[0m ×2 + 30.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.972852) + 30.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.972852)[0m + 30.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.992852) + 30.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432354.992852)[0m + 30.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.002852) + 30.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.002852)[0m + 30.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.022852) + 30.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.022852)[0m + 30.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.032852) + 30.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.032852)[0m + 30.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.122852) + 30.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.122852)[0m + 30.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.142852) + 30.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.142852)[0m + 30.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.162852) ×2 + 30.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.162852)[0m ×2 + 30.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.272852) + 30.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.272852)[0m + 30.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.292852) + 30.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.292852)[0m + 30.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.312852) + 30.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.312852)[0m + 30.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.332852) + 30.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.332852)[0m + 30.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.352852) ×2 + 30.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.352852)[0m ×2 + 30.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.482852) + 30.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.482852)[0m + 30.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.512852) + 30.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.512852)[0m + 30.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.532852) + 30.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.532852)[0m + 30.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.682852) + 30.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.692852) ×2 + 30.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.682852)[0m + 30.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.692852)[0m ×2 + 30.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.712852) + 30.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.712852)[0m + 30.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.752852) + 30.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.752852)[0m + 31.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.912852) + 31.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.912852)[0m + 31.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.932852) + 31.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432355.932852)[0m + 31.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.452852) + 31.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.462852) + 31.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.452852)[0m + 31.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.462852)[0m + 31.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.472852) + 31.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.482852) + 31.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.472852)[0m + 31.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.482852)[0m + 31.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.502852) + 31.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.502852)[0m + 31.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.522852) + 31.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.522852)[0m + 31.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.602852) + 31.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.602852)[0m + 31.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.622852) + 31.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.622852)[0m + 31.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.642852) + 31.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.642852)[0m + 31.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.832852) + 31.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.832852)[0m + 32.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.952852) + 32.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432356.952852)[0m + 32.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.162852) ×2 + 32.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.172852) + 32.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.162852)[0m ×2 + 32.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.172852)[0m + 32.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.192852) + 32.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.202852) + 32.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.192852)[0m + 32.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.202852)[0m + 32.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.242852) + 32.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.242852)[0m + 32.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.432852) ×2 + 32.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.432852)[0m ×2 + 32.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.872852) + 32.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.872852)[0m + 33.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.952852) + 33.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.952852)[0m + 33.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.962852) + 33.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.972852) + 33.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.962852)[0m + 33.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.972852)[0m + 33.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.992852) + 33.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432357.992852)[0m + 33.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.012852) ×2 + 33.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.012852)[0m ×2 + 33.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.092852) + 33.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.092852)[0m + 33.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.112852) + 33.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.112852)[0m + 33.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.282852) + 33.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.282852)[0m + 33.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.322852) + 33.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.322852)[0m + 33.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.442852) + 33.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.452852) + 33.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.442852)[0m + 33.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.452852)[0m + 33.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.512852) + 33.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.512852)[0m + 33.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.652852) + 33.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.652852)[0m + 33.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.672852) + 33.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.682852) ×2 + 33.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.672852)[0m + 33.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.682852)[0m ×2 + 33.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.722852) + 33.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.722852)[0m + 33.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.742852) + 33.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432358.742852)[0m + 34.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.362852) + 34.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.362852)[0m + 34.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.442852) + 34.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.452852) + 34.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.442852)[0m + 34.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.452852)[0m + 34.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.472852) + 34.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.472852)[0m + 34.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.492852) + 34.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.492852)[0m + 34.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.512852) ×2 + 34.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.512852)[0m ×2 + 34.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.592852) + 34.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.592852)[0m + 34.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.612852) + 34.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.612852)[0m + 34.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.652852) + 34.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.662852) + 34.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.652852)[0m + 34.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.662852)[0m + 35.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.962852) + 35.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432359.962852)[0m + 35.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.162852) + 35.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.162852)[0m + 35.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.182852) + 35.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.182852)[0m + 35.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.192852) + 35.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.202852) + 35.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.192852)[0m + 35.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.202852)[0m + 35.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.242852) + 35.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.252852) + 35.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.242852)[0m + 35.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.252852)[0m + 35.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.442852) + 35.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.442852)[0m + 35.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.822852) + 35.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.822852)[0m + 35.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.842852) + 35.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.842852)[0m + 35.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.862852) ×2 + 35.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.862852)[0m ×2 + 36.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.952852) + 36.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.962852) + 36.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.952852)[0m + 36.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.972852) + 36.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.962852)[0m + 36.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.972852)[0m + 36.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.992852) + 36.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.002852) + 36.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.992852)[0m + 36.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.002852)[0m + 36.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.022852) + 36.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.022852)[0m + 36.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.102852) + 36.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.102852)[0m + 36.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.122852) + 36.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.122852)[0m + 36.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.142852) ×2 + 36.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.142852)[0m ×2 + 36.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.282852) + 36.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.282852)[0m + 36.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.292852) + 36.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.292852)[0m + 36.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.472852) + 36.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.472852)[0m + 36.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.652852) + 36.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.662852) + 36.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.652852)[0m + 36.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.672852) ×2 + 36.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.662852)[0m + 36.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.672852)[0m ×2 + 36.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.692852) + 36.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.692852)[0m + 36.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.732852) + 36.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.742852) + 36.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.732852)[0m + 36.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.742852)[0m + 37.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.352852) + 37.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.352852)[0m + 37.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.422852) + 37.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.432852) + 37.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.422852)[0m + 37.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.432852)[0m + 37.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.452852) + 37.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.452852)[0m + 37.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.472852) + 37.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.472852)[0m + 37.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.482852) + 37.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.482852)[0m + 37.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.492852) + 37.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.502852) + 37.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.492852)[0m + 37.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.502852)[0m + 37.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.562852) + 37.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.562852)[0m + 37.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.582852) + 37.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.582852)[0m + 38.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.942852) + 38.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.942852)[0m + 38.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.142852) + 38.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.152852) + 38.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.142852)[0m + 38.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.152852)[0m + 38.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.162852) + 38.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.172852) + 38.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.162852)[0m + 38.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.172852)[0m + 38.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.192852) + 38.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.192852)[0m + 38.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.222852) ×2 + 38.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.222852)[0m ×2 + 38.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.402852) + 38.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.402852)[0m + 38.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.492852) + 38.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.492852)[0m + 38.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.572852) + 38.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.572852)[0m + 38.73sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780432363.64017296 seconds ×2 + 38.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.692852) ×2 + 38.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.692852)[0m ×2 + 38.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.722852) + 38.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.732852) + 38.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.722852)[0m + 38.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.732852)[0m + 39.40sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780432364.30523419 seconds. ×2 + 39.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 39.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 40.52sINFOobjective_server_nodeFound path in 6 iterations (0.00534617 s). + 40.57sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 40.59sINFOros2_control_node[2026-06-02 20:32:45.490] [info] Received new action goal + 40.59sINFOros2_control_node[2026-06-02 20:32:45.490] [info] Accepted new action goal | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.1s | 98 errors · 1046 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×200 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×151 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×200 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×151 + 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×128 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×128 + 0.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.822852) + 0.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.822852)[0m + 0.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.842852) + 0.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.842852)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.862852) ×2 + 0.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.862852)[0m ×2 + 0.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.952852) + 0.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.962852) + 0.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.952852)[0m + 0.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.972852) + 0.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.962852)[0m + 0.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.972852)[0m + 0.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.992852) + 0.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.002852) + 0.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.992852)[0m + 0.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.002852)[0m + 0.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.022852) + 0.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.022852)[0m + 0.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.102852) + 0.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.102852)[0m + 0.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.122852) + 0.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.122852)[0m + 0.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.142852) ×2 + 0.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.142852)[0m ×2 + 0.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.282852) + 0.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.282852)[0m + 0.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.292852) + 0.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.292852)[0m + 0.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.472852) + 0.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.472852)[0m + 1.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.652852) + 1.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.662852) + 1.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.652852)[0m + 1.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.672852) ×2 + 1.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.662852)[0m + 1.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.672852)[0m ×2 + 1.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.692852) + 1.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.692852)[0m + 1.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.732852) + 1.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.742852) + 1.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.732852)[0m + 1.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.742852)[0m + 1.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.352852) + 1.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.352852)[0m + 1.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.422852) + 1.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.432852) + 1.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.422852)[0m + 1.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.432852)[0m + 1.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.452852) + 1.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.452852)[0m + 1.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.472852) + 1.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.472852)[0m + 1.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.482852) + 1.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.482852)[0m + 1.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.492852) + 1.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.502852) + 1.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.492852)[0m + 1.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.502852)[0m + 2.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.562852) + 2.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.562852)[0m + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.582852) + 2.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.582852)[0m + 2.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.942852) + 2.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.942852)[0m + 2.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.142852) + 2.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.152852) + 2.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.142852)[0m + 2.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.152852)[0m + 2.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.162852) + 2.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.172852) + 2.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.162852)[0m + 2.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.172852)[0m + 2.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.192852) + 2.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.192852)[0m + 2.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.222852) ×2 + 2.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.222852)[0m ×2 + 2.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.402852) + 2.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.402852)[0m + 2.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.492852) + 2.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.492852)[0m + 3.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.572852) + 3.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.572852)[0m + 3.08sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780432363.64017296 seconds ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.692852) ×2 + 3.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.692852)[0m ×2 + 3.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.722852) + 3.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.732852) + 3.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.722852)[0m + 3.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.732852)[0m + 3.74sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780432364.30523419 seconds. ×2 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.86sINFOobjective_server_nodeFound path in 6 iterations (0.00534617 s). + 4.92sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.93sINFOros2_control_node[2026-06-02 20:32:45.490] [info] Received new action goal + 4.93sINFOros2_control_node[2026-06-02 20:32:45.490] [info] Accepted new action goal + 14.35sINFOobjective_server_node[0;m[0;93m2026-06-02 20:32:54.907938263 [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 + 14.35sINFOobjective_server_node[0;93m2026-06-02 20:32:54.907996036 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.84sINFOobjective_server_node[0;93m2026-06-02 20:32:55.400771881 [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 + 14.84sINFOobjective_server_node[0;93m2026-06-02 20:32:55.401943991 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.96sINFOobjective_server_node[0;93m2026-06-02 20:32:55.525190896 [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 + 14.97sINFOobjective_server_node[0;93m2026-06-02 20:32:55.528001165 [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 + 14.97sINFOobjective_server_node[0;93m2026-06-02 20:32:55.528037827 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.32sINFOobjective_server_node[0;93m2026-06-02 20:32:55.883019669 [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 + 15.34sINFOobjective_server_node[0;93m2026-06-02 20:32:55.901075965 [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 + 15.34sINFOobjective_server_node[0;93m2026-06-02 20:32:55.901121457 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 16.38sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 19.59sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 19.94sINFOobjective_server_nodeFound path in 4 iterations (0.00304631 s). + 20.01sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 20.03sINFOobjective_server_nodeFound path in 12 iterations (0.00427278 s). + 20.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 20.12sINFOobjective_server_nodeFound path in 1 iterations (0.00284445 s). + 20.17sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] + 20.18sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 20.21sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 20.21sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 20.24sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 20.26sINFOobjective_server_nodeFound path in 12 iterations (0.00586806 s). + 20.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] + 20.33sINFOobjective_server_nodeFound path in 1 iterations (0.00432943 s). + 20.37sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] + 20.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 20.43sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 20.48sINFOobjective_server_nodeFound path in 4 iterations (0.00558308 s). + 20.56sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 20.58sINFOobjective_server_nodeFound path in 4 iterations (0.00393227 s). + 20.66sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X______________________X] + 20.68sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 20.73sINFOobjective_server_nodePath shortcutter: [X________________________________X_____________________________X] + 20.75sINFOobjective_server_nodeFound path in 1 iterations (0.00274384 s). + 20.81sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] + 20.83sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 20.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 20.88sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 20.95sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X] + 20.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 20.99sINFOros2_control_node[2026-06-02 20:33:01.553] [info] Received new action goal + 20.99sINFOros2_control_node[2026-06-02 20:33:01.553] [info] Accepted new action goal + 26.00sINFOros2_control_node[2026-06-02 20:33:06.556] [info] Received new action goal + 26.00sINFOros2_control_node[2026-06-02 20:33:06.556] [info] Accepted new action goal + 27.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 27.60sINFOros2_control_node[2026-06-02 20:33:08.159] [info] Received new action goal + 27.60sINFOros2_control_node[2026-06-02 20:33:08.159] [info] Accepted new action goal + 28.82sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 28.85sINFOros2_control_node[2026-06-02 20:33:09.410] [info] Received new action goal + 28.85sINFOros2_control_node[2026-06-02 20:33:09.410] [info] Accepted new action goal + 34.13sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780432394.69543505 seconds ×2 + 34.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780432395.33123374 seconds. ×2 + 35.00sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 35.00sINFOobjective_server_nodePath shortcutter: [X______X] + 35.02sINFOros2_control_node[2026-06-02 20:33:15.575] [info] Received new action goal + 35.02sINFOros2_control_node[2026-06-02 20:33:15.575] [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 | 24.8s | 654 errors · 8159 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1733 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1406 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1733 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1406 + 0.16sINFOjoint_trajectory_controllerGoal reached, success! ×926 + 0.16sINFOros2_control_nodeGoal reached, success![0m ×926 + 0.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.734997) + 0.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.734997)[0m + 0.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.844997) ×2 + 0.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.844997)[0m ×2 + 0.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.884997) + 0.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432300.884997)[0m + 1.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.364997) + 1.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.364997)[0m + 1.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.404997) + 1.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.404997)[0m + 1.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.554997) + 1.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.554997)[0m + 1.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.574997) + 1.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.574997)[0m + 1.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.584997) + 1.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.584997)[0m + 1.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.854997) + 1.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432301.854997)[0m + 2.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.204997) + 2.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.204997)[0m + 2.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.254997) + 2.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.254997)[0m + 2.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.334997) + 2.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.344997) + 2.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.334997)[0m + 2.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.344997)[0m + 2.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.384997) + 2.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.384997)[0m + 2.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.394997) + 2.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.394997)[0m + 2.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.534997) + 2.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.534997)[0m + 2.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.844997) + 2.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.844997)[0m + 2.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.874997) + 2.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.874997)[0m + 2.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.894997) + 2.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432302.894997)[0m + 2.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.044997) + 2.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.044997)[0m + 2.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.054997) + 2.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.054997)[0m + 2.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.064997) + 2.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.074997) + 2.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.064997)[0m + 2.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432298.244997) that ends in the past (1780432303.074997)[0m + 3.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780432303.19557023 seconds ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.71sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780432303.82825756 seconds. ×2 + 3.76sINFOobjective_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 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.87sINFOros2_control_node[2026-06-02 20:31:43.993] [info] Received new action goal + 3.87sINFOros2_control_node[2026-06-02 20:31:43.993] [info] Accepted new action goal + 7.76sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.84sINFOobjective_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 + 7.85sINFOobjective_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 ×2 + 11.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.315049) + 11.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.315049)[0m + 11.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.365049) ×2 + 11.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.365049)[0m ×2 + 11.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.485049) + 11.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.485049)[0m + 11.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.525049) + 11.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.535049) + 11.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.525049)[0m + 11.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.535049)[0m + 11.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.915049) + 11.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.915049)[0m + 11.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.925049) + 11.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432311.925049)[0m + 12.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.125049) + 12.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.125049)[0m + 12.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.155049) ×2 + 12.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.155049)[0m ×2 + 12.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.165049) + 12.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.165049)[0m + 12.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.185049) + 12.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.185049)[0m + 12.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.565049) + 12.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.565049)[0m + 12.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.595049) + 12.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.595049)[0m + 12.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.785049) + 12.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.785049)[0m + 12.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.795049) + 12.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.795049)[0m + 12.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.825049) + 12.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.825049)[0m + 12.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.935049) + 12.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.935049)[0m + 12.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.975049) + 12.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432312.975049)[0m + 13.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.285049) ×2 + 13.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.285049)[0m ×2 + 13.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.385049) + 13.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.385049)[0m + 13.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.395049) + 13.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.395049)[0m + 13.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.425049) + 13.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.425049)[0m + 13.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.555049) + 13.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.555049)[0m + 13.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.575049) + 13.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.575049)[0m + 13.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.605049) + 13.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.615049) + 13.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.605049)[0m + 13.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.615049)[0m + 13.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.805049) + 13.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.805049)[0m + 13.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.945049) + 13.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432313.945049)[0m + 13.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.015049) + 13.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.015049)[0m + 13.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.045049) + 13.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.045049)[0m + 13.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.105049) + 13.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.105049)[0m + 14.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.195049) + 14.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.195049)[0m + 14.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.275049) + 14.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.275049)[0m + 14.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.285049) + 14.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.285049)[0m + 14.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.385049) + 14.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.385049)[0m + 14.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.425049) + 14.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.425049)[0m + 14.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.545049) + 14.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.545049)[0m + 14.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.765049) + 14.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.765049)[0m + 14.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.775049) + 14.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.775049)[0m + 14.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.835049) + 14.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.835049)[0m + 14.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.855049) + 14.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432314.855049)[0m + 14.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.015049) + 14.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.015049)[0m + 14.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.035049) + 14.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.045049) + 14.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.035049)[0m + 14.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.045049)[0m + 14.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.065049) + 14.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.065049)[0m + 14.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.085049) + 14.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.085049)[0m + 15.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.265049) + 15.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.265049)[0m + 15.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.375049) + 15.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.385049) + 15.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.375049)[0m + 15.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.385049)[0m + 15.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.455049) + 15.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.455049)[0m + 15.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.515049) + 15.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.515049)[0m + 15.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.595049) + 15.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.595049)[0m + 15.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.665049) + 15.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.665049)[0m + 15.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.705049) + 15.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.715049) + 15.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.705049)[0m + 15.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.715049)[0m + 15.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.805049) + 15.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.805049)[0m + 15.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.825049) + 15.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.825049)[0m + 15.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.875049) + 15.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432315.875049)[0m + 16.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.195049) + 16.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.195049)[0m + 16.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.275049) + 16.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.275049)[0m + 16.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.455049) + 16.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.455049)[0m + 16.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.475049) + 16.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.475049)[0m + 16.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.485049) + 16.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.485049)[0m + 16.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.495049) + 16.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.495049)[0m + 16.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.695049) + 16.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.695049)[0m + 16.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.715049) + 16.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.715049)[0m + 16.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.825049) + 16.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.825049)[0m + 16.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.875049) + 16.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.875049)[0m + 16.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.905049) ×2 + 16.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.905049)[0m ×2 + 16.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.995049) + 16.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432316.995049)[0m + 16.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.025049) + 16.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.025049)[0m + 17.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.135049) + 17.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.145049) + 17.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.135049)[0m + 17.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.145049)[0m + 17.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.165049) + 17.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.165049)[0m + 17.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.245049) + 17.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.245049)[0m + 17.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.255049) + 17.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.255049)[0m + 17.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.275049) + 17.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.275049)[0m + 17.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.315049) + 17.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.315049)[0m + 17.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.325049) + 17.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.325049)[0m + 17.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.575049) + 17.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.575049)[0m + 17.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.595049) + 17.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.605049) + 17.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.595049)[0m + 17.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.605049)[0m + 17.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.695049) + 17.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.695049)[0m + 17.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.725049) + 17.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.725049)[0m + 17.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.735049) + 17.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.735049)[0m + 17.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.945049) + 17.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.945049)[0m + 17.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.955049) + 17.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.955049)[0m + 17.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.965049) + 17.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432317.965049)[0m + 18.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.145049) + 18.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.155049) + 18.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.145049)[0m + 18.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.155049)[0m + 18.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.265049) + 18.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.265049)[0m + 18.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.275049) + 18.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.275049)[0m + 18.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.335049) + 18.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.335049)[0m + 18.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.405049) + 18.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.405049)[0m + 18.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.525049) + 18.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.525049)[0m + 18.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.545049) + 18.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.545049)[0m + 18.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.575049) + 18.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.575049)[0m + 18.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.585049) + 18.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.595049) + 18.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.585049)[0m + 18.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.595049)[0m + 18.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.685049) + 18.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.685049)[0m + 18.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.735049) + 18.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.735049)[0m + 18.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.955049) + 18.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.955049)[0m + 18.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.995049) + 18.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432318.995049)[0m + 18.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.015049) + 18.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.015049)[0m + 18.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.035049) + 18.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.035049)[0m + 19.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.145049) + 19.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.145049)[0m + 19.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.165049) + 19.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.165049)[0m + 19.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.195049) ×2 + 19.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.195049)[0m ×2 + 19.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.215049) + 19.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.215049)[0m + 19.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.365049) ×2 + 19.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.375049) + 19.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.365049)[0m ×2 + 19.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.375049)[0m + 19.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.395049) + 19.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.395049)[0m + 19.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.405049) + 19.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.405049)[0m + 19.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.415049) + 19.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.415049)[0m + 19.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.615049) + 19.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.615049)[0m + 19.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.625049) + 19.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.625049)[0m + 19.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.715049) + 19.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.715049)[0m + 19.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.745049) + 19.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.745049)[0m + 19.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.805049) + 19.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.805049)[0m + 19.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.875049) + 19.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.875049)[0m + 19.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.935049) + 19.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432319.935049)[0m + 19.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.015049) + 19.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.015049)[0m + 19.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.045049) + 19.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.055049) + 19.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.045049)[0m + 19.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.055049)[0m + 20.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.145049) + 20.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.145049)[0m + 20.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.165049) + 20.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.165049)[0m + 20.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.185049) + 20.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.185049)[0m + 20.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.205049) + 20.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.205049)[0m + 20.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.295049) + 20.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.295049)[0m + 20.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.325049) + 20.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.325049)[0m + 20.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.425049) + 20.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.425049)[0m + 20.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.465049) + 20.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.465049)[0m + 20.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.495049) + 20.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.495049)[0m + 20.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.525049) + 20.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.525049)[0m + 20.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.645049) + 20.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.645049)[0m + 20.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.665049) + 20.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.665049)[0m + 20.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.685049) + 20.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.695049) + 20.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.685049)[0m + 20.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.695049)[0m + 20.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.835049) + 20.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.835049)[0m + 20.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.865049) + 20.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.865049)[0m + 20.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.875049) + 20.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.885049) + 20.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.875049)[0m + 20.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432320.885049)[0m + 20.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.065049) + 20.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.065049)[0m + 20.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.105049) + 20.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.105049)[0m + 21.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.205049) + 21.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.205049)[0m + 21.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.225049) + 21.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.225049)[0m + 21.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.265049) + 21.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.265049)[0m + 21.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.295049) + 21.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.295049)[0m + 21.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.315049) + 21.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.315049)[0m + 21.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.365049) + 21.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.365049)[0m + 21.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.395049) + 21.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.395049)[0m + 21.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.455049) + 21.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.455049)[0m + 21.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.495049) + 21.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.495049)[0m + 21.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.525049) + 21.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.525049)[0m + 21.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.535049) + 21.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.535049)[0m + 21.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.625049) + 21.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.625049)[0m + 21.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.645049) + 21.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.645049)[0m + 21.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.675049) + 21.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.675049)[0m + 21.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.775049) + 21.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.775049)[0m + 21.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.805049) + 21.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.805049)[0m + 21.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.925049) + 21.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.925049)[0m + 21.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.965049) + 21.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.965049)[0m + 21.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.985049) ×2 + 21.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432321.985049)[0m ×2 + 21.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.025049) + 21.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.025049)[0m + 21.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.115049) + 21.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.115049)[0m + 22.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.145049) + 22.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.145049)[0m + 22.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.175049) + 22.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.175049)[0m + 22.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.205049) ×2 + 22.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.205049)[0m ×2 + 22.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.335049) + 22.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.335049)[0m + 22.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.365049) ×2 + 22.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.365049)[0m ×2 + 22.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.375049) + 22.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.375049)[0m + 22.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.395049) + 22.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.395049)[0m + 22.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.585049) + 22.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.585049)[0m + 22.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.615049) + 22.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.615049)[0m + 22.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.725049) + 22.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.725049)[0m + 22.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.785049) + 22.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.785049)[0m + 22.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.805049) ×2 + 22.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.805049)[0m ×2 + 22.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.855049) + 22.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.865049) + 22.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.855049)[0m + 22.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.865049)[0m + 22.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.995049) + 22.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432322.995049)[0m + 22.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.035049) + 22.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.045049) + 22.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.035049)[0m + 22.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.045049)[0m + 22.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.075049) + 22.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.075049)[0m + 23.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.135049) + 23.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.135049)[0m + 23.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.145049) + 23.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.145049)[0m + 23.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.165049) + 23.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.165049)[0m + 23.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.195049) + 23.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.195049)[0m + 23.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.215049) + 23.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.215049)[0m + 23.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.315049) + 23.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.325049) + 23.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.315049)[0m + 23.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.325049)[0m + 23.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.365049) + 23.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.365049)[0m + 23.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.495049) + 23.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.495049)[0m + 23.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.525049) + 23.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.525049)[0m + 23.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.555049) ×2 + 23.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.555049)[0m ×2 + 23.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.665049) + 23.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.665049)[0m + 23.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.695049) + 23.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.695049)[0m + 23.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.715049) + 23.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.715049)[0m + 23.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.865049) + 23.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.865049)[0m + 23.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.885049) + 23.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.885049)[0m + 23.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.905049) + 23.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.905049)[0m + 23.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.925049) + 23.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432323.925049)[0m + 24.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.145049) + 24.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.145049)[0m + 24.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.225049) + 24.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.225049)[0m + 24.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.295049) + 24.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.295049)[0m + 24.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.325049) + 24.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.325049)[0m + 24.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.365049) + 24.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.365049)[0m + 24.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.415049) + 24.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.415049)[0m + 24.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.435049) + 24.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.435049)[0m + 24.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.495049) + 24.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.505049) + 24.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.495049)[0m + 24.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.505049)[0m + 24.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.535049) + 24.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.535049)[0m + 24.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.555049) ×2 + 24.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.555049)[0m ×2 + 24.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.645049) ×2 + 24.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.645049)[0m ×2 + 24.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.655049) + 24.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.655049)[0m + 24.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.685049) + 24.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.695049) + 24.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.685049)[0m + 24.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.695049)[0m + 24.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.795049) + 24.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.795049)[0m + 24.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.845049) ×2 + 24.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432324.845049)[0m ×2 + 24.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.015049) + 24.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.015049)[0m + 24.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.025049) + 24.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.025049)[0m + 24.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.055049) + 24.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.055049)[0m + 25.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.175049) + 25.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.175049)[0m + 25.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.215049) + 25.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.225049) + 25.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.215049)[0m + 25.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.225049)[0m + 25.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.255049) + 25.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.255049)[0m + 25.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.395049) + 25.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.395049)[0m + 25.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.415049) ×2 + 25.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.415049)[0m ×2 + 25.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.425049) + 25.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.425049)[0m + 25.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.435049) + 25.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.435049)[0m + 25.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.475049) + 25.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.475049)[0m + 25.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.765049) + 25.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.765049)[0m + 25.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.815049) + 25.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.815049)[0m + 25.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.835049) + 25.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.835049)[0m + 25.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.865049) + 25.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.865049)[0m + 25.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.915049) + 25.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.915049)[0m + 25.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.045049) + 25.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.045049)[0m + 25.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.065049) + 25.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.065049)[0m + 25.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.085049) ×2 + 25.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.085049)[0m ×2 + 25.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.105049) + 25.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.105049)[0m + 26.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.165049) + 26.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.165049)[0m + 26.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.185049) + 26.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.195049) + 26.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.185049)[0m + 26.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.195049)[0m + 26.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.225049) + 26.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.225049)[0m + 26.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.245049) + 26.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.245049)[0m + 26.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.325049) + 26.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.325049)[0m + 26.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.355049) + 26.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.355049)[0m + 26.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.375049) + 26.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.375049)[0m + 26.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.505049) + 26.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.505049)[0m + 26.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.525049) + 26.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.525049)[0m + 26.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.555049) + 26.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.555049)[0m + 26.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.575049) ×2 + 26.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.575049)[0m ×2 + 26.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.675049) + 26.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.675049)[0m + 26.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.685049) + 26.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.685049)[0m + 26.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.715049) + 26.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.715049)[0m + 26.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.735049) + 26.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.735049)[0m + 26.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.875049) + 26.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.875049)[0m + 26.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.885049) + 26.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.885049)[0m + 26.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.905049) + 26.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.905049)[0m + 26.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.915049) ×2 + 26.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.915049)[0m ×2 + 26.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.965049) + 26.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.965049)[0m + 27.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.155049) ×2 + 27.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.155049)[0m ×2 + 27.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.235049) + 27.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.235049)[0m + 27.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.255049) + 27.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.255049)[0m + 27.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.305049) + 27.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.305049)[0m + 27.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.325049) + 27.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.325049)[0m + 27.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.345049) + 27.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.345049)[0m + 27.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.385049) + 27.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.385049)[0m + 27.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.405049) + 27.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.405049)[0m + 27.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.425049) + 27.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.425049)[0m + 27.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.515049) + 27.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.515049)[0m + 27.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.545049) + 27.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.545049)[0m + 27.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.575049) + 27.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.575049)[0m + 27.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.635049) + 27.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.645049) + 27.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.655049) + 27.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.635049)[0m + 27.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.645049)[0m + 27.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.655049)[0m + 27.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.685049) + 27.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.685049)[0m + 27.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.705049) + 27.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.715049) + 27.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.705049)[0m + 27.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.715049)[0m + 27.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.815049) + 27.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.815049)[0m + 27.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.835049) + 27.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.835049)[0m + 27.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.855049) + 27.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.855049)[0m + 27.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780432327.97939324 seconds ×2 + 27.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.975049) + 27.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.975049)[0m + 27.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432328.005049) + 27.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432328.005049)[0m + 27.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432328.045049) + 27.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432328.045049)[0m + 28.55sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780432328.67381740 seconds. ×2 + 28.73sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 28.75sINFOros2_control_node[2026-06-02 20:32:08.869] [info] Received new action goal + 28.75sINFOros2_control_node[2026-06-02 20:32:08.869] [info] Accepted new action goal | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 2 errors · 37 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780432178.38672376 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780432178.96583962 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X________X] + 0.72sINFOros2_control_node[2026-06-02 20:29:39.109] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-02 20:29:39.109] [info] Accepted new action goal + 3.15sINFOros2_control_node[2026-06-02 20:29:41.531] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-02 20:29:41.531] [info] Accepted new action goal + 11.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780432190.10301971 seconds ×2 + 12.28sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780432190.66432452 seconds. ×2 + 12.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 12.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 12.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780432190.74448180 seconds ×2 + 13.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780432191.45536399 seconds. ×2 + 13.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 13.17sINFOobjective_server_nodePath shortcutter: [X______X] + 13.20sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Received new action goal + 13.20sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Accepted new action goal + 15.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780432193.58550572 seconds ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 47 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 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.93sINFOros2_control_node[2026-06-02 20:30:46.100] [info] Received new action goal + 0.93sINFOros2_control_node[2026-06-02 20:30:46.100] [info] Accepted new action goal + 2.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780432247.25681806 seconds ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780432248.01902008 seconds. ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.07sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.09sINFOros2_control_node[2026-06-02 20:30:49.256] [info] Received new action goal + 4.09sINFOros2_control_node[2026-06-02 20:30:49.256] [info] Accepted new action goal + 7.79sINFOobjective_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 + 10.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 10.01sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.02sINFOros2_control_node[2026-06-02 20:30:55.186] [info] Received new action goal + 10.02sINFOros2_control_node[2026-06-02 20:30:55.186] [info] Accepted new action goal + 13.63sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780432258.80524874 seconds ×2 + 14.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780432259.37578273 seconds. ×2 + 14.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 14.38sINFOobjective_server_nodePath shortcutter: [X___X] + 14.39sINFOros2_control_node[2026-06-02 20:30:59.559] [info] Received new action goal + 14.39sINFOros2_control_node[2026-06-02 20:30:59.559] [info] Accepted new action goal + 15.65sINFOobjective_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 + 15.66sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 2 errors · 43 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780432426.85706282 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: 1780432427.42684865 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 (3.4e-07 s). + 0.68sINFOobjective_server_nodePath shortcutter: [X________X] + 0.70sINFOros2_control_node[2026-06-02 20:33:47.557] [info] Received new action goal + 0.70sINFOros2_control_node[2026-06-02 20:33:47.557] [info] Accepted new action goal + 2.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 11.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780432437.89709067 seconds ×2 + 11.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780432438.45994592 seconds. ×2 + 11.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780432438.53008103 seconds ×2 + 12.31sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780432439.16332078 seconds. ×2 + 12.33sINFOobjective_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 + 12.33sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780432439.18531466 seconds ×2 + 12.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780432439.74291635 seconds. ×2 + 12.99sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 12.99sINFOobjective_server_nodePath shortcutter: [X___X] + 13.00sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Received new action goal + 13.00sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Accepted new action goal | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 4 errors · 24 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780432167.38803291 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: 1780432167.94626069 seconds. ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X______X] + 0.76sINFOros2_control_node[2026-06-02 20:29:28.146] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-02 20:29:28.146] [info] Accepted new action goal + 11.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780432178.38672376 seconds ×2 + 11.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780432178.96583962 seconds. ×2 + 11.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 11.72sINFOobjective_server_nodePath shortcutter: [X________X] + 11.72sINFOros2_control_node[2026-06-02 20:29:39.109] [info] Received new action goal + 11.72sINFOros2_control_node[2026-06-02 20:29:39.109] [info] Accepted new action goal + 14.14sINFOros2_control_node[2026-06-02 20:29:41.531] [info] Received new action goal + 14.14sINFOros2_control_node[2026-06-02 20:29:41.531] [info] Accepted new action goal | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 4 errors · 33 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Accepted new action goal + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Got request to cancel active goal. + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432156.41515589 seconds ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432157.05729485 seconds. ×2 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 3.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Received new action goal + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Accepted new action goal + 7.98sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.45% of iterations over budget over 1:10.002 of wall time (96/21519). Below 1% is expected on a non-realtime system.[0m + 13.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780432167.38803291 seconds ×2 + 13.61sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780432167.94626069 seconds. ×2 + 13.80sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 13.81sINFOros2_control_node[2026-06-02 20:29:28.146] [info] Received new action goal + 13.81sINFOros2_control_node[2026-06-02 20:29:28.146] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 2 errors · 51 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780432394.69543505 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780432395.33123374 seconds. ×2 + 1.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.78sINFOobjective_server_nodePath shortcutter: [X______X] + 1.79sINFOros2_control_node[2026-06-02 20:33:15.575] [info] Received new action goal + 1.79sINFOros2_control_node[2026-06-02 20:33:15.575] [info] Accepted new action goal + 7.96sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.96sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.97sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 8.26sINFOobjective_server_nodePath shortcutter: [X___________X] + 8.26sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 8.27sINFOobjective_server_nodePath shortcutter: [X_________________X] + 8.28sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 8.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 8.33sINFOobjective_server_nodeFound path in 1 iterations (0.0033664 s). + 8.42sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 8.43sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 8.47sINFOros2_control_node[2026-06-02 20:33:22.256] [info] Received new action goal + 8.47sINFOros2_control_node[2026-06-02 20:33:22.256] [info] Accepted new action goal + 8.54sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.73% of iterations over budget over 5:10.011 of wall time (689/94426). Below 1% is expected on a non-realtime system.[0m + 10.99sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Received new action goal + 10.99sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Accepted new action goal + 11.70sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Got request to cancel active goal. + 11.70sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Canceling active goal... + 11.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780432405.50972390 seconds ×2 + 12.41sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780432406.19553447 seconds. ×2 + 12.55sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 12.55sINFOobjective_server_nodePath shortcutter: [X________X] + 12.57sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Received new action goal + 12.57sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Accepted new action goal + 14.48sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.8s | 4 errors · 26 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Accepted new action goal + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Got request to cancel active goal. + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Canceling active goal... + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780432405.50972390 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780432406.19553447 seconds. ×2 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.56sINFOobjective_server_nodePath shortcutter: [X________X] + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Received new action goal + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Accepted new action goal + 3.49sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 11.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780432416.39583111 seconds ×2 + 12.20sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780432416.97834516 seconds. ×2 + 12.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 12.45sINFOobjective_server_nodePath shortcutter: [X________________X] + 12.48sINFOros2_control_node[2026-06-02 20:33:37.256] [info] Received new action goal + 12.48sINFOros2_control_node[2026-06-02 20:33:37.256] [info] Accepted new action goal | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 6 errors · 48 info |
+ 0.00sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780432144.86701703 seconds ×2 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.20sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432145.62542200 seconds. ×2 + 0.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432145.67556477 seconds ×2 + 1.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432146.23358202 seconds. ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.49sINFOobjective_server_nodePath shortcutter: [X_____________X] + 1.50sINFOros2_control_node[2026-06-02 20:29:06.368] [info] Received new action goal + 1.50sINFOros2_control_node[2026-06-02 20:29:06.368] [info] Accepted new action goal + 4.84sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 4.88sINFOros2_control_node[2026-06-02 20:29:09.742] [info] Received new action goal + 4.88sINFOros2_control_node[2026-06-02 20:29:09.742] [info] Accepted new action goal + 7.21sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). + 7.22sINFOros2_control_node[2026-06-02 20:29:12.084] [info] Received new action goal + 7.22sINFOros2_control_node[2026-06-02 20:29:12.085] [info] Accepted new action goal + 9.57sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 9.58sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Received new action goal + 9.58sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Accepted new action goal + 11.52sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Got request to cancel active goal. + 11.52sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Canceling active goal... + 11.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432156.41515589 seconds ×2 + 12.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432157.05729485 seconds. ×2 + 12.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 12.20sINFOros2_control_nodeReceived & accepted new action goal[0m + 12.48sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 12.48sINFOobjective_server_nodePath shortcutter: [X______X] + 12.50sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Received new action goal + 12.50sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Accepted new action goal | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 4 errors · 2 warnings · 62 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780432437.89709067 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780432438.45994592 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780432438.53008103 seconds ×2 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780432439.16332078 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780432439.18531466 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780432439.74291635 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.95sINFOobjective_server_nodePath shortcutter: [X___X] + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Received new action goal + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Accepted new action goal + 5.31sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.31sINFOros2_control_node[2026-06-02 20:34:03.208] [info] Received new action goal + 5.31sINFOros2_control_node[2026-06-02 20:34:03.208] [info] Accepted new action goal + 5.31sINFOros2_control_node[2026-06-02 20:34:03.208] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.00sINFOros2_control_node[2026-06-02 20:34:09.893] [info] Got request to cancel active goal. + 12.00sINFOros2_control_node[2026-06-02 20:34:09.893] [info] Canceling active goal... + 12.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780432449.90085316 seconds ×2 + 12.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780432450.46104527 seconds. ×2 + 14.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780432451.92125511 seconds ×2 + 14.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780432452.58414292 seconds. ×2 + 14.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.69sINFOobjective_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 + 14.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780432452.58906531 seconds ×2 + 15.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780432453.14770031 seconds. ×2 + 15.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780432453.14809990 seconds ×2 + 15.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780432453.69972539 seconds. ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.7s | 2 errors · 80 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 0.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 1.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 1.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 1.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 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 + 1.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 1.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 2.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 2.59sINFOobjective_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 + 2.68sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 2.68sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.70sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 2.70sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 4.60sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 4.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 5.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 5.24sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.26sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 5.26sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal + 9.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 9.01sINFOros2_control_node[2026-06-02 20:28:26.724] [info] Received new action goal + 9.01sINFOros2_control_node[2026-06-02 20:28:26.724] [info] Accepted new action goal + 12.33sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 12.33sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.35sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Received new action goal + 12.35sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Accepted new action goal + 12.66sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Got request to cancel active goal. + 12.66sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Canceling active goal... + 12.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432110.39577079 seconds ×2 + 13.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432110.96114564 seconds. ×2 + 13.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432111.09232759 seconds ×2 + 13.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432111.67682910 seconds. ×2 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 15.12sINFOobjective_server_nodePath shortcutter: [X______X] + 15.13sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Received new action goal + 15.13sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Accepted new action goal | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.5s | 24 errors · 2 warnings · 142 info |
+ 0.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780432450.46104527 seconds. ×2 + 1.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780432451.92125511 seconds ×2 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780432452.58414292 seconds. ×2 + 2.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.13sINFOobjective_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 + 2.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780432452.58906531 seconds ×2 + 2.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780432453.14770031 seconds. ×2 + 2.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780432453.14809990 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780432453.69972539 seconds. ×2 + 3.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780432454.27986908 seconds ×2 + 3.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 9.79sERRORweb_video_server-21process[web_video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.80sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.80sERRORrosbridge_websocket-19process[rosbridge_websocket-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.80sERRORrosapi_node-18process[rosapi_node-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.80sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.81sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.81sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.81sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.82sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.82sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.82sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.82sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.82sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.82sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.82sINFOweb_video_server-21sending signal 'SIGTERM' to process[web_video_server-21] + 9.83sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] + 9.84sINFOrosbridge_websocket-19sending signal 'SIGTERM' to process[rosbridge_websocket-19] + 9.85sINFOrosapi_node-18sending signal 'SIGTERM' to process[rosapi_node-18] + 9.85sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 9.86sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 9.87sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 9.88sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 9.89sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 9.90sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 9.91sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 9.92sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 9.93sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 9.94sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 9.94sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 9.94sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 9.94sINFOrosbridge_websocketExiting due to SIGINT + 9.94sERRORrosapi_nodeTraceback (most recent call last): + 9.94sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 560, in <module> + 9.94sINFOrosapi_nodemain() + 9.94sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 552, in main + 9.94sINFOrosapi_noderclpy.spin(node) + 9.94sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin + 9.94sINFOrosapi_nodeexecutor.spin_once() + 9.94sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once + 9.94sINFOrosapi_nodeself._spin_once_impl(timeout_sec) + 9.94sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl + 9.94sINFOrosapi_nodehandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) + 9.94sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks + 9.94sINFOrosapi_nodereturn next(self._cb_iter) + 9.94sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks + 9.94sINFOcontroller_managerShutdown request received.... + 9.94sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.94sINFOrosapi_noderaise ExternalShutdownException() + 9.94sINFOrosapi_noderclpy.executors.ExternalShutdownException + 9.94sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.94sERRORui_teleop_bridgeTraceback (most recent call last): + 9.94sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 9.94sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 9.94sINFOui_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 + 9.94sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.94sINFOui_teleop_bridgerclpy.shutdown() + 9.94sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.94sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 9.94sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.94sINFOui_teleop_bridge_shutdown(context=context) + 9.94sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 9.94sINFOui_teleop_bridgereturn context.shutdown() + 9.94sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 9.94sINFOui_teleop_bridgeself.__context.shutdown() + 9.94sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 9.94sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 9.94sINFOros2_control_nodeShutdown request received....[0m + 9.94sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 9.94sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 9.94sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 9.94sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 9.94sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 9.95sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.95sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.95sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.95sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.95sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.95sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.95sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.95sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 9.95sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 9.95sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 9.95sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 9.95sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 9.95sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 9.95sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 9.95sINFOcontroller_managerShutting down the controller manager. + 9.95sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 9.96sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 9.96sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 9.96sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 9.96sINFOros2_control_nodeShutting down the controller manager.[0m + 10.00sINFOobjective_server_node[0;m[2026-06-02 20:34:20.460] [moveit_pro_license] [info] + 10.00sINFOobjective_server_node************************************************* ×2 + 10.00sINFOobjective_server_node* MoveIt Pro License + 10.00sINFOobjective_server_node* Application has successfully terminated + 10.06sINFOtf2_web_republisher_node-20process has finished cleanly [pid 10706] + 10.06sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system + 10.06sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 10.07sINFOobjective_server_nodecorrupted double-linked list + 10.07sERRORobjective_server_nodeStack trace (most recent call last): + 10.07sINFOweb_video_server-21process has finished cleanly [pid 10718] + 10.09sINFOobjective_server_node#19 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 10.09sINFOobjective_server_node#18 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ee426d84e4, in _start + 10.09sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0f4a14e3f, in __libc_start_main + 10.09sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0f4a14d96, in + 10.09sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0f4a3060f, in exit + 10.09sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0f4a30494, in + 10.09sINFOobjective_server_node#13 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7ff0a6fdccd3, in Ort::detail::Base<OrtEnv>::~Base() + 10.09sINFOobjective_server_node#12 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7ff0a5e59144, in + 10.09sINFOobjective_server_node#11 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7ff0a5ebd721, in + 10.09sINFOobjective_server_node#10 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7ff0a6517cf6, in + 10.09sINFOobjective_server_node#9 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7ff0a6517c15, in + 10.09sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0f4a90452, in free + 10.09sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0f4a8de9f, in + 10.09sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0f4a8c91a, in + 10.09sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0f4a8c7cb, in + 10.09sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0f4a8bcfb, in + 10.09sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0f4a74676, in + 10.09sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0f4a137f2, in abort + 10.09sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0f4a2d475, in raise + 10.09sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0f4a819fc, in pthread_kill + 10.09sERRORobjective_server_nodeAborted (Signal sent by tkill() 10687 0) + 10.10sERRORui_teleop_bridge-17process has died [pid 10693, 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_v54ehqef']. + 10.10sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10685] + 10.13sINFOexecute_objective_bridge-16process has finished cleanly [pid 10691] + 10.13sERRORrosapi_node-18process has died [pid 10695, exit code 1, cmd '/opt/ros/humble/lib/rosapi/rosapi_node --ros-args -r __node:=rosapi --params-file /tmp/launch_params_1k725mpz']. + 10.13sINFOrosbridge_websocket-19process has finished cleanly [pid 10697] + 10.13sINFOlaunchprocess[rosbridge_websocket-19] was required: shutting down launched system + 10.78sERRORobjective_server_node_main-14process has died [pid 10687, 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_515tuirp --params-file /tmp/launch_params_7e0n5tjl --params-file /tmp/launch_params_wsbnebeg --params-file /tmp/launch_params_b6bpuuhh --params-file /tmp/launch_params_hqn2u621 --params-file /tmp/launch_params_u_7z85d6']. + 10.78sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 10.93sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10683] + 10.98sINFOparameter_manager_node-10process has finished cleanly [pid 10642] + 11.00sINFOwaypoint_manager_node-11process has finished cleanly [pid 10681] + 11.09sINFOcomponent_container_mt-15process has finished cleanly [pid 10689] + 11.24sINFOmove_group-9process has finished cleanly [pid 10639] + 12.08sINFOros2_control_node-1process has finished cleanly [pid 10620] | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 2 errors · 26 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780432416.39583111 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780432416.97834516 seconds. ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.84sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.86sINFOros2_control_node[2026-06-02 20:33:37.256] [info] Received new action goal + 0.86sINFOros2_control_node[2026-06-02 20:33:37.256] [info] Accepted new action goal + 4.88sINFOros2_control_node[2026-06-02 20:33:41.272] [info] Received new action goal + 4.88sINFOros2_control_node[2026-06-02 20:33:41.272] [info] Accepted new action goal + 10.46sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780432426.85706282 seconds ×2 + 11.03sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780432427.42684865 seconds. ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 11.15sINFOobjective_server_nodePath shortcutter: [X________X] + 11.16sINFOros2_control_node[2026-06-02 20:33:47.557] [info] Received new action goal + 11.16sINFOros2_control_node[2026-06-02 20:33:47.557] [info] Accepted new action goal + 13.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 7.7s | 67 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780432190.66432452 seconds. ×2 + 0.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780432190.74448180 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.79sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780432191.45536399 seconds. ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.92sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Received new action goal + 0.92sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Accepted new action goal + 2.92sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780432193.58550572 seconds ×2 + 3.48sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780432194.13964939 seconds. ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.60sINFOros2_control_node[2026-06-02 20:29:54.264] [info] Received new action goal + 3.60sINFOros2_control_node[2026-06-02 20:29:54.264] [info] Accepted new action goal + 8.18sINFOobjective_server_node[0;93m2026-06-02 20:29:58.839835251 [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 + 8.18sINFOobjective_server_node[0;93m2026-06-02 20:29:58.839888223 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.77sINFOobjective_server_node[0;93m2026-06-02 20:29:59.434639113 [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 + 8.77sINFOobjective_server_node[0;93m2026-06-02 20:29:59.434690556 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.92sINFOobjective_server_node[0;93m2026-06-02 20:29:59.579760568 [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 + 8.93sINFOobjective_server_node[0;93m2026-06-02 20:29:59.582648351 [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 + 8.93sINFOobjective_server_node[0;93m2026-06-02 20:29:59.582704193 [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;93m2026-06-02 20:29:59.915525813 [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 + 9.27sINFOobjective_server_node[0;93m2026-06-02 20:29:59.932938521 [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 + 9.27sINFOobjective_server_node[0;93m2026-06-02 20:29:59.932968722 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.62sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780432201.28033948 seconds ×2 + 11.24sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780432201.90650749 seconds. ×2 + 11.88sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538340307 [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 + 11.88sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538397449 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.37sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034638160 [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 + 12.37sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034684942 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.51sINFOobjective_server_node[0;93m2026-06-02 20:30:03.172673326 [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 + 12.51sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175707625 [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 + 12.51sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175756037 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.89sINFOobjective_server_node[0;93m2026-06-02 20:30:03.550042985 [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 + 12.91sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571092167 [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 + 12.91sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571143840 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.82sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780432204.48068047 seconds ×2 + 14.50sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780432205.16661572 seconds. ×2 + 14.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.51sINFOros2_control_nodeReceived & accepted new action goal[0m + 14.58sINFOobjective_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 + 14.59sINFOobjective_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 | 50 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-02 20:29:58.839835251 [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;93m2026-06-02 20:29:58.839888223 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.59sINFOobjective_server_node[0;93m2026-06-02 20:29:59.434639113 [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 + 0.59sINFOobjective_server_node[0;93m2026-06-02 20:29:59.434690556 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.74sINFOobjective_server_node[0;93m2026-06-02 20:29:59.579760568 [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 + 0.75sINFOobjective_server_node[0;93m2026-06-02 20:29:59.582648351 [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 + 0.75sINFOobjective_server_node[0;93m2026-06-02 20:29:59.582704193 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.08sINFOobjective_server_node[0;93m2026-06-02 20:29:59.915525813 [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 + 1.09sINFOobjective_server_node[0;93m2026-06-02 20:29:59.932938521 [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 + 1.09sINFOobjective_server_node[0;93m2026-06-02 20:29:59.932968722 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.44sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780432201.28033948 seconds ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.06sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780432201.90650749 seconds. ×2 + 3.70sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538340307 [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 + 3.70sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538397449 [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;93m2026-06-02 20:30:03.034638160 [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;93m2026-06-02 20:30:03.034684942 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.33sINFOobjective_server_node[0;93m2026-06-02 20:30:03.172673326 [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 + 4.33sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175707625 [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 + 4.33sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175756037 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.71sINFOobjective_server_node[0;93m2026-06-02 20:30:03.550042985 [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 + 4.73sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571092167 [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 + 4.73sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571143840 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.64sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780432204.48068047 seconds ×2 + 6.32sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780432205.16661572 seconds. ×2 + 6.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.33sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.41sINFOobjective_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 + 6.42sINFOobjective_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 + 6.68sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 6.69sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.71sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Received new action goal + 6.71sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Accepted new action goal + 9.57sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 9.59sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Received new action goal + 9.59sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Accepted new action goal | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.8s | 33 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780432190.10301971 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780432190.66432452 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780432190.74448180 seconds ×2 + 1.35sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780432191.45536399 seconds. ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.46sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.48sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Received new action goal + 1.48sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Accepted new action goal + 3.48sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780432193.58550572 seconds ×2 + 4.04sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780432194.13964939 seconds. ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.16sINFOros2_control_node[2026-06-02 20:29:54.264] [info] Received new action goal + 4.16sINFOros2_control_node[2026-06-02 20:29:54.264] [info] Accepted new action goal | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.0s | 2 errors · 2 warnings · 30 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:34:09.893] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 20:34:09.893] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780432449.90085316 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780432450.46104527 seconds. ×2 + 2.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780432451.92125511 seconds ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780432452.58414292 seconds. ×2 + 2.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.69sINFOobjective_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 + 2.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780432452.58906531 seconds ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780432453.14770031 seconds. ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780432453.14809990 seconds ×2 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780432453.69972539 seconds. ×2 + 4.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780432454.27986908 seconds ×2 + 4.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 12 warnings · 181 info |
+ 0.00sINFOobjective_server_node[2026-06-02 20:28:12.000] [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) + 0.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.29sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.29sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.29sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.29sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.29sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.29sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.30sINFOcontroller_managerupdate rate is 600 Hz + 0.30sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.30sWARNcontroller_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. + 0.30sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.30sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.30sWARNros2_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 + 0.35sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.35sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.36sINFOobjective_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. + 0.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.36sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.36sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.36sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.37sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.37sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.37sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.37sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.40sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.40sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.41sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.41sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.41sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.41sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.42sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.42sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.43sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.55sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.55sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.58sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.58sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.60sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10622] + 0.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10624] + 0.70sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.70sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.70sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.73sINFOobjective_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. + 0.73sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.78sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.78sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.78sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.84sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.86sINFOros2_control_node[2026-06-02 20:28:12.864] [info] Controller state will be published at 10 Hz. + 0.87sINFOros2_control_node[2026-06-02 20:28:12.866] [info] VelocityForceController 'on_configure' succeeded. + 0.87sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.87sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.87sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.88sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.88sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.88sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.88sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.88sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.88sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.88sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.88sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.88sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.88sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.88sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.91sINFOros2_control_node[2026-06-02 20:28:12.912] [info] Controller state will be published at 20 Hz. + 0.91sINFOros2_control_node[2026-06-02 20:28:12.913] [info] JointVelocityController 'on_configure' succeeded. + 0.91sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.92sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.92sINFOros2_control_node[2026-06-02 20:28:12.916] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.92sINFOros2_control_node[2026-06-02 20:28:12.916] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.95sINFOros2_control_node[2026-06-02 20:28:12.949] [info] First order lag filter time constant set to: 0.2 seconds + 0.95sINFOros2_control_node[2026-06-02 20:28:12.949] [info] Controller state will be published at 50 Hz. + 0.95sINFOros2_control_node[2026-06-02 20:28:12.954] [info] Registered `FollowJointTrajectory` action server. + 0.96sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.96sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10633] + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10636] + 1.27sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10630] + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10628] + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10626] + 1.30sWARNobjective_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/. + 1.32sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.32sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.38sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.38sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.38sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.38sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.39sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.42sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.45sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.48sINFOmove_group ×2 + 1.48sINFOmove_group[92mYou can start planning now![0m + 1.84sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.89sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780432094.45228553 seconds. ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780432094.46248436 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432095.01961398 seconds. ×2 + 3.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432096.13977432 seconds ×2 + 4.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 5.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 6.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 6.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 6.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 7.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 7.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 7.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 8.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 8.30sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 8.40sINFOobjective_server_nodePath shortcutter: [X_______X] + 8.42sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 8.42sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 61 info |
+ 0.00sINFOmove_group ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m + 0.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780432094.45228553 seconds. ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780432094.46248436 seconds ×2 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432095.01961398 seconds. ×2 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432096.13977432 seconds ×2 + 3.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 4.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 6.82sINFOobjective_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 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 6.92sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.93sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 6.93sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780432437.89709067 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780432438.45994592 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780432438.53008103 seconds ×2 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780432439.16332078 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780432439.18531466 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780432439.74291635 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.95sINFOobjective_server_nodePath shortcutter: [X___X] + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Received new action goal + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Accepted new action goal | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Received new action goal + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Accepted new action goal + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Got request to cancel active goal. + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Canceling active goal... + 0.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432110.39577079 seconds ×2 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432110.96114564 seconds. ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432111.09232759 seconds ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432111.67682910 seconds. ×2 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Accepted new action goal | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.7s | 2 errors · 2 warnings · 30 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:34:09.893] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 20:34:09.893] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780432449.90085316 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780432450.46104527 seconds. ×2 + 2.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780432451.92125511 seconds ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780432452.58414292 seconds. ×2 + 2.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.69sINFOobjective_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 + 2.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780432452.58906531 seconds ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780432453.14770031 seconds. ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780432453.14809990 seconds ×2 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780432453.69972539 seconds. ×2 + 4.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780432454.27986908 seconds ×2 + 4.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.6s | 33 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780432190.10301971 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780432190.66432452 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780432190.74448180 seconds ×2 + 1.35sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780432191.45536399 seconds. ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.46sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.48sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Received new action goal + 1.48sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Accepted new action goal + 3.48sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780432193.58550572 seconds ×2 + 4.04sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780432194.13964939 seconds. ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.16sINFOros2_control_node[2026-06-02 20:29:54.264] [info] Received new action goal + 4.16sINFOros2_control_node[2026-06-02 20:29:54.264] [info] Accepted new action goal | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.6s | 4 errors · 20 info |
+ 0.00sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780432144.86701703 seconds ×2 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.20sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432145.62542200 seconds. ×2 + 0.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432145.67556477 seconds ×2 + 1.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432146.23358202 seconds. ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.49sINFOobjective_server_nodePath shortcutter: [X_____________X] + 1.50sINFOros2_control_node[2026-06-02 20:29:06.368] [info] Received new action goal + 1.50sINFOros2_control_node[2026-06-02 20:29:06.368] [info] Accepted new action goal + 4.84sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780432437.89709067 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780432438.45994592 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780432438.53008103 seconds ×2 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780432439.16332078 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780432439.18531466 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780432439.74291635 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.95sINFOobjective_server_nodePath shortcutter: [X___X] + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Received new action goal + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Accepted new action goal | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 2 errors · 2 warnings · 30 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:34:09.893] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 20:34:09.893] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780432449.90085316 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780432450.46104527 seconds. ×2 + 2.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780432451.92125511 seconds ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780432452.58414292 seconds. ×2 + 2.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.69sINFOobjective_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 + 2.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780432452.58906531 seconds ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780432453.14770031 seconds. ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780432453.14809990 seconds ×2 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780432453.69972539 seconds. ×2 + 4.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780432454.27986908 seconds ×2 + 4.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.1s | 2 errors · 16 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Accepted new action goal + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Got request to cancel active goal. + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Canceling active goal... + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780432405.50972390 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.42sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780432406.19553447 seconds. ×2 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.56sINFOobjective_server_nodePath shortcutter: [X________X] + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Received new action goal + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Accepted new action goal + 3.49sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Accepted new action goal + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Got request to cancel active goal. + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432156.41515589 seconds ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432157.05729485 seconds. ×2 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.01sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 3.01sINFOobjective_server_nodePath shortcutter: [X______X] + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Received new action goal + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Accepted new action goal | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780432201.90650749 seconds. ×2 + 0.64sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538340307 [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 + 0.64sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538397449 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.13sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034638160 [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 + 1.13sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034684942 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.172673326 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175707625 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175756037 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.64sINFOobjective_server_node[0;93m2026-06-02 20:30:03.550042985 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571092167 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571143840 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.57sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780432204.48068047 seconds ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.63sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780432205.16661572 seconds. ×2 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.34sINFOobjective_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 + 3.35sINFOobjective_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 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 3.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.65sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Accepted new action goal + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 6.52sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Accepted new action goal | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Accepted new action goal + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Got request to cancel active goal. + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432156.41515589 seconds ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432157.05729485 seconds. ×2 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.01sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 3.01sINFOobjective_server_nodePath shortcutter: [X______X] + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Received new action goal + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Accepted new action goal | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Accepted new action goal + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Got request to cancel active goal. + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432156.41515589 seconds ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432157.05729485 seconds. ×2 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.01sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 3.01sINFOobjective_server_nodePath shortcutter: [X______X] + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Received new action goal + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Accepted new action goal | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Accepted new action goal + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Got request to cancel active goal. + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432156.41515589 seconds ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432157.05729485 seconds. ×2 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.01sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 3.01sINFOobjective_server_nodePath shortcutter: [X______X] + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Received new action goal + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Accepted new action goal | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 2 errors · 12 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780432178.38672376 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780432178.96583962 seconds. ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X________X] + 0.72sINFOros2_control_node[2026-06-02 20:29:39.109] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-02 20:29:39.109] [info] Accepted new action goal + 3.15sINFOros2_control_node[2026-06-02 20:29:41.531] [info] Received new action goal + 3.15sINFOros2_control_node[2026-06-02 20:29:41.531] [info] Accepted new action goal | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 142 errors · 1196 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×153 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×153 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×255 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×184 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×255 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×184 + 0.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.015049) + 0.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.015049)[0m + 0.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.025049) + 0.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.025049)[0m + 0.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.055049) + 0.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.055049)[0m + 0.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.175049) + 0.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.175049)[0m + 0.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.215049) + 0.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.225049) + 0.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.215049)[0m + 0.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.225049)[0m + 0.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.255049) + 0.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.255049)[0m + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.395049) + 0.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.395049)[0m + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.415049) ×2 + 0.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.415049)[0m ×2 + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.425049) + 0.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.425049)[0m + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.435049) + 0.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.435049)[0m + 0.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.475049) + 0.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.475049)[0m + 0.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.765049) + 0.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.765049)[0m + 0.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.815049) + 0.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.815049)[0m + 0.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.835049) + 0.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.835049)[0m + 0.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.865049) + 0.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.865049)[0m + 1.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.915049) + 1.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432325.915049)[0m + 1.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.045049) + 1.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.045049)[0m + 1.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.065049) + 1.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.065049)[0m + 1.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.085049) ×2 + 1.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.085049)[0m ×2 + 1.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.105049) + 1.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.105049)[0m + 1.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.165049) + 1.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.165049)[0m + 1.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.185049) + 1.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.195049) + 1.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.185049)[0m + 1.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.195049)[0m + 1.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.225049) + 1.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.225049)[0m + 1.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.245049) + 1.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.245049)[0m + 1.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.325049) + 1.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.325049)[0m + 1.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.355049) + 1.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.355049)[0m + 1.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.375049) + 1.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.375049)[0m + 1.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.505049) + 1.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.505049)[0m + 1.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.525049) + 1.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.525049)[0m + 1.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.555049) + 1.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.555049)[0m + 1.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.575049) ×2 + 1.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.575049)[0m ×2 + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.675049) + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.675049)[0m + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.685049) + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.685049)[0m + 1.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.715049) + 1.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.715049)[0m + 1.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.735049) + 1.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.735049)[0m + 1.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.875049) + 1.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.875049)[0m + 1.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.885049) + 1.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.885049)[0m + 2.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.905049) + 2.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.905049)[0m + 2.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.915049) ×2 + 2.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.915049)[0m ×2 + 2.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.965049) + 2.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432326.965049)[0m + 2.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.155049) ×2 + 2.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.155049)[0m ×2 + 2.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.235049) + 2.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.235049)[0m + 2.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.255049) + 2.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.255049)[0m + 2.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.305049) + 2.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.305049)[0m + 2.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.325049) + 2.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.325049)[0m + 2.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.345049) + 2.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.345049)[0m + 2.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.385049) + 2.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.385049)[0m + 2.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.405049) + 2.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.405049)[0m + 2.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.425049) + 2.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.425049)[0m + 2.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.515049) + 2.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.515049)[0m + 2.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.545049) + 2.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.545049)[0m + 2.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.575049) + 2.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.575049)[0m + 2.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.635049) + 2.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.645049) + 2.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.655049) + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.635049)[0m + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.645049)[0m + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.655049)[0m + 2.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.685049) + 2.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.685049)[0m + 2.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.705049) + 2.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.715049) + 2.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.705049)[0m + 2.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.715049)[0m + 2.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.815049) + 2.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.815049)[0m + 2.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.835049) + 2.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.835049)[0m + 2.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.855049) + 2.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.855049)[0m + 3.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780432327.97939324 seconds ×2 + 3.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.975049) + 3.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432327.975049)[0m + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432328.005049) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432328.005049)[0m + 3.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432328.045049) + 3.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432310.705049) that ends in the past (1780432328.045049)[0m + 3.77sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780432328.67381740 seconds. ×2 + 3.84sINFOobjective_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 3.96sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.96sINFOros2_control_node[2026-06-02 20:32:08.869] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-02 20:32:08.869] [info] Accepted new action goal | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Received new action goal + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Accepted new action goal + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Got request to cancel active goal. + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Canceling active goal... + 0.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432110.39577079 seconds ×2 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432110.96114564 seconds. ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432111.09232759 seconds ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432111.67682910 seconds. ×2 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Accepted new action goal | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Received new action goal + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Accepted new action goal + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Got request to cancel active goal. + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Canceling active goal... + 0.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432110.39577079 seconds ×2 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432110.96114564 seconds. ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432111.09232759 seconds ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432111.67682910 seconds. ×2 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Accepted new action goal | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Received new action goal + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Accepted new action goal + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Got request to cancel active goal. + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Canceling active goal... + 0.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432110.39577079 seconds ×2 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432110.96114564 seconds. ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432111.09232759 seconds ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432111.67682910 seconds. ×2 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Accepted new action goal | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Received new action goal + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Accepted new action goal + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Got request to cancel active goal. + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Canceling active goal... + 0.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432110.39577079 seconds ×2 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432110.96114564 seconds. ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432111.09232759 seconds ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432111.67682910 seconds. ×2 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Accepted new action goal | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Received new action goal + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Accepted new action goal + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Got request to cancel active goal. + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Canceling active goal... + 0.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432110.39577079 seconds ×2 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432110.96114564 seconds. ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432111.09232759 seconds ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432111.67682910 seconds. ×2 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Accepted new action goal | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Received new action goal + 0.12sINFOros2_control_node[2026-06-02 20:28:30.064] [info] Accepted new action goal + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Got request to cancel active goal. + 0.44sINFOros2_control_node[2026-06-02 20:28:30.380] [info] Canceling active goal... + 0.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780432110.39577079 seconds ×2 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780432110.96114564 seconds. ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780432111.09232759 seconds ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780432111.67682910 seconds. ×2 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 20:28:32.846] [info] Accepted new action goal | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 4 errors · 20 info |
+ 0.00sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780432144.86701703 seconds ×2 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.20sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432145.62542200 seconds. ×2 + 0.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432145.67556477 seconds ×2 + 1.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432146.23358202 seconds. ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.49sINFOobjective_server_nodePath shortcutter: [X_____________X] + 1.50sINFOros2_control_node[2026-06-02 20:29:06.368] [info] Received new action goal + 1.50sINFOros2_control_node[2026-06-02 20:29:06.368] [info] Accepted new action goal + 4.84sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 4 errors · 20 info |
+ 0.00sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780432144.86701703 seconds ×2 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.20sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432145.62542200 seconds. ×2 + 0.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432145.67556477 seconds ×2 + 1.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432146.23358202 seconds. ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.49sINFOobjective_server_nodePath shortcutter: [X_____________X] + 1.50sINFOros2_control_node[2026-06-02 20:29:06.368] [info] Received new action goal + 1.50sINFOros2_control_node[2026-06-02 20:29:06.368] [info] Accepted new action goal + 4.84sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 4 errors · 20 info |
+ 0.00sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780432144.86701703 seconds ×2 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.20sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432145.62542200 seconds. ×2 + 0.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432145.67556477 seconds ×2 + 1.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432146.23358202 seconds. ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.49sINFOobjective_server_nodePath shortcutter: [X_____________X] + 1.50sINFOros2_control_node[2026-06-02 20:29:06.368] [info] Received new action goal + 1.50sINFOros2_control_node[2026-06-02 20:29:06.368] [info] Accepted new action goal + 4.84sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 4 errors · 20 info |
+ 0.00sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. ×2 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780432144.86701703 seconds ×2 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.20sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780432145.62542200 seconds. ×2 + 0.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780432145.67556477 seconds ×2 + 1.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780432146.23358202 seconds. ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.49sINFOobjective_server_nodePath shortcutter: [X_____________X] + 1.50sINFOros2_control_node[2026-06-02 20:29:06.368] [info] Received new action goal + 1.50sINFOros2_control_node[2026-06-02 20:29:06.368] [info] Accepted new action goal + 4.84sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Accepted new action goal + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Got request to cancel active goal. + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432156.41515589 seconds ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432157.05729485 seconds. ×2 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.01sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 3.01sINFOobjective_server_nodePath shortcutter: [X______X] + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Received new action goal + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Accepted new action goal | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Accepted new action goal + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Got request to cancel active goal. + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432156.41515589 seconds ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432157.05729485 seconds. ×2 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.01sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 3.01sINFOobjective_server_nodePath shortcutter: [X______X] + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Received new action goal + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Accepted new action goal | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Accepted new action goal + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Got request to cancel active goal. + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432156.41515589 seconds ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432157.05729485 seconds. ×2 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.01sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 3.01sINFOobjective_server_nodePath shortcutter: [X______X] + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Received new action goal + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Accepted new action goal | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Accepted new action goal + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Got request to cancel active goal. + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432156.41515589 seconds ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432157.05729485 seconds. ×2 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.01sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 3.01sINFOobjective_server_nodePath shortcutter: [X______X] + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Received new action goal + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Accepted new action goal | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Accepted new action goal + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Got request to cancel active goal. + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432156.41515589 seconds ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432157.05729485 seconds. ×2 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.01sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 3.01sINFOobjective_server_nodePath shortcutter: [X______X] + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Received new action goal + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Accepted new action goal | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Accepted new action goal + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Got request to cancel active goal. + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432156.41515589 seconds ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432157.05729485 seconds. ×2 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.01sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 3.01sINFOobjective_server_nodePath shortcutter: [X______X] + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Received new action goal + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Accepted new action goal | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 20:29:14.445] [info] Accepted new action goal + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Got request to cancel active goal. + 2.05sINFOros2_control_node[2026-06-02 20:29:16.383] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780432156.41515589 seconds ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780432157.05729485 seconds. ×2 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.01sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). + 3.01sINFOobjective_server_nodePath shortcutter: [X______X] + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Received new action goal + 3.03sINFOros2_control_node[2026-06-02 20:29:17.365] [info] Accepted new action goal | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 25 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780432190.10301971 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780432190.66432452 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780432190.74448180 seconds ×2 + 1.35sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780432191.45536399 seconds. ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.46sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.46sINFOobjective_server_nodePath shortcutter: [X______X] + 1.48sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Received new action goal + 1.48sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Accepted new action goal + 3.48sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780432193.58550572 seconds ×2 | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.0s | 29 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780432190.66432452 seconds. ×2 + 0.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780432190.74448180 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.79sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780432191.45536399 seconds. ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.92sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Received new action goal + 0.92sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Accepted new action goal + 2.92sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780432193.58550572 seconds ×2 + 3.48sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780432194.13964939 seconds. ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.60sINFOros2_control_node[2026-06-02 20:29:54.264] [info] Received new action goal + 3.60sINFOros2_control_node[2026-06-02 20:29:54.264] [info] Accepted new action goal | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 29 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780432190.66432452 seconds. ×2 + 0.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780432190.74448180 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.79sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780432191.45536399 seconds. ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.90sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.92sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Received new action goal + 0.92sINFOros2_control_node[2026-06-02 20:29:51.577] [info] Accepted new action goal + 2.92sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780432193.58550572 seconds ×2 + 3.48sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780432194.13964939 seconds. ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.60sINFOros2_control_node[2026-06-02 20:29:54.264] [info] Received new action goal + 3.60sINFOros2_control_node[2026-06-02 20:29:54.264] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780432201.90650749 seconds. ×2 + 0.64sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538340307 [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 + 0.64sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538397449 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.13sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034638160 [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 + 1.13sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034684942 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.172673326 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175707625 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175756037 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.64sINFOobjective_server_node[0;93m2026-06-02 20:30:03.550042985 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571092167 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571143840 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.57sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780432204.48068047 seconds ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.63sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780432205.16661572 seconds. ×2 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.34sINFOobjective_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 + 3.35sINFOobjective_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 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 3.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.65sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Accepted new action goal + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 6.52sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780432201.90650749 seconds. ×2 + 0.64sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538340307 [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 + 0.64sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538397449 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.13sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034638160 [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 + 1.13sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034684942 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.172673326 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175707625 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175756037 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.64sINFOobjective_server_node[0;93m2026-06-02 20:30:03.550042985 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571092167 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571143840 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.57sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780432204.48068047 seconds ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.63sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780432205.16661572 seconds. ×2 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.34sINFOobjective_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 + 3.35sINFOobjective_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 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 3.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.65sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Accepted new action goal + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 6.52sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780432201.90650749 seconds. ×2 + 0.64sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538340307 [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 + 0.64sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538397449 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.13sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034638160 [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 + 1.13sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034684942 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.172673326 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175707625 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175756037 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.64sINFOobjective_server_node[0;93m2026-06-02 20:30:03.550042985 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571092167 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571143840 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.57sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780432204.48068047 seconds ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.63sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780432205.16661572 seconds. ×2 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.34sINFOobjective_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 + 3.35sINFOobjective_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 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 3.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.65sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Accepted new action goal + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 6.52sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780432201.90650749 seconds. ×2 + 0.64sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538340307 [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 + 0.64sINFOobjective_server_node[0;93m2026-06-02 20:30:02.538397449 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.13sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034638160 [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 + 1.13sINFOobjective_server_node[0;93m2026-06-02 20:30:03.034684942 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.172673326 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175707625 [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 + 1.27sINFOobjective_server_node[0;93m2026-06-02 20:30:03.175756037 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.64sINFOobjective_server_node[0;93m2026-06-02 20:30:03.550042985 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571092167 [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 + 1.67sINFOobjective_server_node[0;93m2026-06-02 20:30:03.571143840 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.57sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780432204.48068047 seconds ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.63sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780432205.16661572 seconds. ×2 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.34sINFOobjective_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 + 3.35sINFOobjective_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 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). + 3.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.65sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-02 20:30:05.555] [info] Accepted new action goal + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 6.52sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-02 20:30:08.430] [info] Accepted new action goal | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 17 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780432258.80524874 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.57sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780432259.37578273 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X___X] + 0.76sINFOros2_control_node[2026-06-02 20:30:59.559] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-02 20:30:59.559] [info] Accepted new action goal + 2.02sINFOobjective_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 + 2.03sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.10sINFOobjective_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 | Octomap Example | octomap_example.xml | 0.0s | 98 errors · 972 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×200 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×151 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×200 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×151 + 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×128 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×128 + 0.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.822852) + 0.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.822852)[0m + 0.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.842852) + 0.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.842852)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.862852) ×2 + 0.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.862852)[0m ×2 + 0.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.952852) + 0.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.962852) + 0.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.952852)[0m + 0.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.972852) + 0.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.962852)[0m + 0.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.972852)[0m + 0.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.992852) + 0.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.002852) + 0.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432360.992852)[0m + 0.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.002852)[0m + 0.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.022852) + 0.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.022852)[0m + 0.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.102852) + 0.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.102852)[0m + 0.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.122852) + 0.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.122852)[0m + 0.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.142852) ×2 + 0.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.142852)[0m ×2 + 0.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.282852) + 0.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.282852)[0m + 0.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.292852) + 0.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.292852)[0m + 0.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.472852) + 0.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.472852)[0m + 1.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.652852) + 1.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.662852) + 1.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.652852)[0m + 1.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.672852) ×2 + 1.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.662852)[0m + 1.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.672852)[0m ×2 + 1.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.692852) + 1.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.692852)[0m + 1.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.732852) + 1.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.742852) + 1.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.732852)[0m + 1.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432361.742852)[0m + 1.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.352852) + 1.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.352852)[0m + 1.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.422852) + 1.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.432852) + 1.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.422852)[0m + 1.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.432852)[0m + 1.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.452852) + 1.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.452852)[0m + 1.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.472852) + 1.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.472852)[0m + 1.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.482852) + 1.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.482852)[0m + 1.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.492852) + 1.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.502852) + 1.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.492852)[0m + 1.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.502852)[0m + 2.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.562852) + 2.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.562852)[0m + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.582852) + 2.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.582852)[0m + 2.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.942852) + 2.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432362.942852)[0m + 2.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.142852) + 2.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.152852) + 2.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.142852)[0m + 2.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.152852)[0m + 2.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.162852) + 2.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.172852) + 2.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.162852)[0m + 2.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.172852)[0m + 2.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.192852) + 2.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.192852)[0m + 2.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.222852) ×2 + 2.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.222852)[0m ×2 + 2.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.402852) + 2.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.402852)[0m + 2.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.492852) + 2.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.492852)[0m + 3.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.572852) + 3.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.572852)[0m + 3.08sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780432363.64017296 seconds ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.692852) ×2 + 3.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.692852)[0m ×2 + 3.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.722852) + 3.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.732852) + 3.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.722852)[0m + 3.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780432346.212852) that ends in the past (1780432363.732852)[0m + 3.74sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780432364.30523419 seconds. ×2 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.86sINFOobjective_server_nodeFound path in 6 iterations (0.00534617 s). + 4.92sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.93sINFOros2_control_node[2026-06-02 20:32:45.490] [info] Received new action goal + 4.93sINFOros2_control_node[2026-06-02 20:32:45.490] [info] Accepted new action goal | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 16 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780432394.69543505 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780432395.33123374 seconds. ×2 + 1.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.78sINFOobjective_server_nodePath shortcutter: [X______X] + 1.79sINFOros2_control_node[2026-06-02 20:33:15.575] [info] Received new action goal + 1.79sINFOros2_control_node[2026-06-02 20:33:15.575] [info] Accepted new action goal | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 16 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780432394.69543505 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780432395.33123374 seconds. ×2 + 1.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 1.78sINFOobjective_server_nodePath shortcutter: [X______X] + 1.79sINFOros2_control_node[2026-06-02 20:33:15.575] [info] Received new action goal + 1.79sINFOros2_control_node[2026-06-02 20:33:15.575] [info] Accepted new action goal | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 2 errors · 16 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Accepted new action goal + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Got request to cancel active goal. + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Canceling active goal... + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780432405.50972390 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.42sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780432406.19553447 seconds. ×2 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.56sINFOobjective_server_nodePath shortcutter: [X________X] + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Received new action goal + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Accepted new action goal + 3.49sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 2 errors · 16 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Accepted new action goal + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Got request to cancel active goal. + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Canceling active goal... + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780432405.50972390 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.42sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780432406.19553447 seconds. ×2 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.56sINFOobjective_server_nodePath shortcutter: [X________X] + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Received new action goal + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Accepted new action goal + 3.49sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 2 errors · 16 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Accepted new action goal + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Got request to cancel active goal. + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Canceling active goal... + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780432405.50972390 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.42sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780432406.19553447 seconds. ×2 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.56sINFOobjective_server_nodePath shortcutter: [X________X] + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Received new action goal + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Accepted new action goal + 3.49sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 2 errors · 16 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Accepted new action goal + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Got request to cancel active goal. + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Canceling active goal... + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780432405.50972390 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.42sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780432406.19553447 seconds. ×2 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.56sINFOobjective_server_nodePath shortcutter: [X________X] + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Received new action goal + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Accepted new action goal + 3.49sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 2 errors · 16 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Accepted new action goal + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Got request to cancel active goal. + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Canceling active goal... + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780432405.50972390 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.42sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780432406.19553447 seconds. ×2 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.56sINFOobjective_server_nodePath shortcutter: [X________X] + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Received new action goal + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Accepted new action goal + 3.49sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 2 errors · 16 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Accepted new action goal + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Got request to cancel active goal. + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Canceling active goal... + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780432405.50972390 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.42sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780432406.19553447 seconds. ×2 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.56sINFOobjective_server_nodePath shortcutter: [X________X] + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Received new action goal + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Accepted new action goal + 3.49sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 2 errors · 16 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Accepted new action goal + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Got request to cancel active goal. + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Canceling active goal... + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780432405.50972390 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.42sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780432406.19553447 seconds. ×2 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.56sINFOobjective_server_nodePath shortcutter: [X________X] + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Received new action goal + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Accepted new action goal + 3.49sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 2 errors · 16 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 20:33:24.778] [info] Accepted new action goal + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Got request to cancel active goal. + 0.71sINFOros2_control_node[2026-06-02 20:33:25.491] [info] Canceling active goal... + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780432405.50972390 seconds ×2 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.42sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780432406.19553447 seconds. ×2 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 1.56sINFOobjective_server_nodePath shortcutter: [X________X] + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Received new action goal + 1.58sINFOros2_control_node[2026-06-02 20:33:26.358] [info] Accepted new action goal + 3.49sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 2 errors · 10 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780432416.39583111 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780432416.97834516 seconds. ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.84sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.86sINFOros2_control_node[2026-06-02 20:33:37.256] [info] Received new action goal + 0.86sINFOros2_control_node[2026-06-02 20:33:37.256] [info] Accepted new action goal | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 14 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780432426.85706282 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: 1780432427.42684865 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 (3.4e-07 s). + 0.68sINFOobjective_server_nodePath shortcutter: [X________X] + 0.70sINFOros2_control_node[2026-06-02 20:33:47.557] [info] Received new action goal + 0.70sINFOros2_control_node[2026-06-02 20:33:47.557] [info] Accepted new action goal + 2.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780432437.89709067 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780432438.45994592 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780432438.53008103 seconds ×2 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780432439.16332078 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780432439.18531466 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780432439.74291635 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.95sINFOobjective_server_nodePath shortcutter: [X___X] + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Received new action goal + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Accepted new action goal | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780432437.89709067 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780432438.45994592 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780432438.53008103 seconds ×2 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780432439.16332078 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780432439.18531466 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780432439.74291635 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.95sINFOobjective_server_nodePath shortcutter: [X___X] + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Received new action goal + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780432437.89709067 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780432438.45994592 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780432438.53008103 seconds ×2 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780432439.16332078 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780432439.18531466 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780432439.74291635 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.95sINFOobjective_server_nodePath shortcutter: [X___X] + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Received new action goal + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780432437.89709067 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780432438.45994592 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780432438.53008103 seconds ×2 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780432439.16332078 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780432439.18531466 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780432439.74291635 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.95sINFOobjective_server_nodePath shortcutter: [X___X] + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Received new action goal + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Accepted new action goal | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780432437.89709067 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780432438.45994592 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780432438.53008103 seconds ×2 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780432439.16332078 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780432439.18531466 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780432439.74291635 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.95sINFOobjective_server_nodePath shortcutter: [X___X] + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Received new action goal + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Accepted new action goal | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 2 errors · 29 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780432437.89709067 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780432438.45994592 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780432438.53008103 seconds ×2 + 1.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780432439.16332078 seconds. ×2 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780432439.18531466 seconds ×2 + 1.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780432439.74291635 seconds. ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 1.95sINFOobjective_server_nodePath shortcutter: [X___X] + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Received new action goal + 1.96sINFOros2_control_node[2026-06-02 20:33:59.857] [info] Accepted new action goal | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 2 errors · 2 warnings · 28 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:34:09.893] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 20:34:09.893] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780432449.90085316 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780432450.46104527 seconds. ×2 + 2.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780432451.92125511 seconds ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780432452.58414292 seconds. ×2 + 2.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.69sINFOobjective_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 + 2.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780432452.58906531 seconds ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780432453.14770031 seconds. ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780432453.14809990 seconds ×2 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780432453.69972539 seconds. ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 2 errors · 2 warnings · 28 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:34:09.893] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 20:34:09.893] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780432449.90085316 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780432450.46104527 seconds. ×2 + 2.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780432451.92125511 seconds ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780432452.58414292 seconds. ×2 + 2.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.69sINFOobjective_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 + 2.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780432452.58906531 seconds ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780432453.14770031 seconds. ×2 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780432453.14809990 seconds ×2 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780432453.69972539 seconds. ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [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: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [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: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [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: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [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: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.0s | 172 errors · 26 warnings · 8787 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/2026-06-02-20-22-27-293472-d5771437cef5-9214 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.69sINFOros2_control_node-1process started with pid [9244] + 1.69sINFOmove_group-9process started with pid [9264] + 1.69sINFOparameter_manager_node-10process started with pid [9266] + 1.69sINFOwaypoint_manager_node-11process started with pid [9305] + 1.69sINFOmove_joint_resampler_node-12process started with pid [9307] + 1.69sINFOmove_end_effector_resampler_node-13process started with pid [9309] + 1.69sINFOobjective_server_node_main-14process started with pid [9311] + 1.69sINFOcomponent_container_mt-15process started with pid [9313] + 1.69sINFOexecute_objective_bridge-16process started with pid [9315] + 1.69sINFOui_teleop_bridge-17process started with pid [9317] + 1.69sINFOrosapi_node-18process started with pid [9319] + 1.69sINFOrosbridge_websocket-19process started with pid [9321] + 1.69sINFOtf2_web_republisher_node-20process started with pid [9341] + 1.69sINFOweb_video_server-21process started with pid [9343] + 1.69sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9246] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9248] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9250] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9252] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9254] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9258] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9261] + 1.73sWARNros2_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 + 1.73sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.79sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.07sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.49sINFOrosbridge_websocketregistered capabilities (classes): ×2 + 2.49sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> ×2 + 2.49sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> ×2 + 2.49sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> ×2 + 2.49sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> ×2 + 2.49sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> ×2 + 2.49sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> ×2 + 2.49sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> ×2 + 2.49sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> ×2 + 2.49sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> ×2 + 2.49sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> ×2 + 2.49sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> ×2 + 2.49sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> ×2 + 2.49sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_action.UnadvertiseAction'> ×2 + 2.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.67sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 2.67sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 2.68sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.70sWARNrosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds.[0m ×2 + 2.72sINFOros2 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 + 2.81sINFOros2 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 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.88sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.89sINFOobjective_server_node[2026-06-02 20:22:31.854] [moveit_pro_license] [info] + 3.89sINFOobjective_server_node************************************************* ×6 + 3.90sINFOobjective_server_node* MoveIt Pro License ×3 + 3.90sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.08sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.08sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.08sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.08sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.08sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.08sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.09sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.09sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.10sWARNros2_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 + 4.10sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.17sINFOobjective_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 + 4.17sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.18sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.18sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.18sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.18sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.18sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.18sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.18sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.18sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m ×2 + 4.27sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.28sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m ×2 + 4.36sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m ×2 + 4.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m ×2 + 4.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m ×2 + 4.49sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m ×2 + 4.49sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m ×2 + 4.51sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m ×2 + 4.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m ×2 + 4.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.58sINFOros2_control_node[2026-06-02 20:22:32.538] [info] Controller state will be published at 20 Hz. + 4.58sINFOros2_control_node[2026-06-02 20:22:32.539] [info] JointVelocityController 'on_configure' succeeded. + 4.58sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m ×2 + 4.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 4.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 4.58sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 4.58sINFOobjective_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 + 4.58sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 4.59sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.59sINFOros2_control_node[2026-06-02 20:22:32.545] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.59sINFOros2_control_node[2026-06-02 20:22:32.545] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.62sINFOros2_control_node[2026-06-02 20:22:32.582] [info] First order lag filter time constant set to: 0.2 seconds + 4.62sINFOros2_control_node[2026-06-02 20:22:32.582] [info] Controller state will be published at 50 Hz. + 4.63sINFOros2_control_node[2026-06-02 20:22:32.589] [info] Registered `FollowJointTrajectory` action server. + 4.63sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m ×2 + 4.63sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.63sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m ×2 + 4.68sINFOros2_control_node[2026-06-02 20:22:32.637] [info] Controller state will be published at 10 Hz. + 4.68sINFOros2_control_node[2026-06-02 20:22:32.638] [info] VelocityForceController 'on_configure' succeeded. + 4.68sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m ×2 + 4.68sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.68sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m ×2 + 4.69sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.69sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m ×2 + 4.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m ×2 + 4.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m ×2 + 4.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m ×2 + 4.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9261] + 4.93sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 4.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9254] + 4.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9248] + 4.96sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 4.97sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 5.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9258] + 5.01sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.01sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.01sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.01sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.02sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9252] + 5.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9246] + 5.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9250] + 5.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 5.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.12sINFOmove_group ×4 + 5.12sINFOmove_group[92mYou can start planning now![0m ×2 + 5.36sWARNobjective_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 + 5.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×41 + 5.70sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×43 + 6.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780431754.26960230 seconds. + 6.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780431754.27980566 seconds + 6.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780431754.83030272 seconds. + 6.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×21 + 7.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780431755.89045763 seconds + 8.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780431756.47793102 seconds. + 9.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780431757.43809128 seconds + 10.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780431757.98822880 seconds. + 10.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780431758.00839067 seconds + 10.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780431758.57790613 seconds. + 10.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780431758.72849607 seconds + 11.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780431759.41142011 seconds. + 11.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 11.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 11.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 11.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780431759.45155287 seconds + 12.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780431760.01586437 seconds. + 12.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 12.18sINFOobjective_server_nodeFound path in 0 iterations (1.944e-05 s). + 12.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 12.20sINFOros2_control_node[2026-06-02 20:22:40.159] [info] Received new action goal + 12.20sINFOros2_control_node[2026-06-02 20:22:40.159] [info] Accepted new action goal + 14.22sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.002 of wall time (7/3160). Below 1% is expected on a non-realtime system.[0m + 14.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×37 + 14.69sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 14.70sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 14.72sINFOros2_control_node[2026-06-02 20:22:42.676] [info] Received new action goal + 14.72sINFOros2_control_node[2026-06-02 20:22:42.676] [info] Accepted new action goal + 18.46sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 18.47sINFOros2_control_node[2026-06-02 20:22:46.430] [info] Received new action goal + 18.47sINFOros2_control_node[2026-06-02 20:22:46.431] [info] Accepted new action goal + 21.78sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 21.78sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 21.79sINFOros2_control_node[2026-06-02 20:22:49.750] [info] Received new action goal + 21.79sINFOros2_control_node[2026-06-02 20:22:49.751] [info] Accepted new action goal + 22.19sINFOros2_control_node[2026-06-02 20:22:50.146] [info] Got request to cancel active goal. + 22.19sINFOros2_control_node[2026-06-02 20:22:50.146] [info] Canceling active goal... + 22.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780431770.16631794 seconds + 22.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780431770.76052690 seconds. + 22.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780431770.89067197 seconds + 23.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780431771.52299023 seconds. + 24.72sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). + 24.72sINFOobjective_server_nodePath shortcutter: [X______X] ×7 + 24.73sINFOros2_control_node[2026-06-02 20:22:52.687] [info] Received new action goal + 24.73sINFOros2_control_node[2026-06-02 20:22:52.687] [info] Accepted new action goal + 48.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×3 + 48.06sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 48.35sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 48.35sINFOobjective_server_nodePath shortcutter: [X___________X] ×3 + 48.36sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×5 + 48.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×3 + 48.43sINFOobjective_server_nodeFound path in 1 iterations (0.00258356 s). + 48.53sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 48.55sINFOros2_control_node[2026-06-02 20:23:16.514] [info] Received new action goal + 48.56sINFOros2_control_node[2026-06-02 20:23:16.514] [info] Accepted new action goal + 51.08sINFOros2_control_node[2026-06-02 20:23:19.036] [info] Received new action goal + 51.08sINFOros2_control_node[2026-06-02 20:23:19.036] [info] Accepted new action goal + 52.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 52.86sINFOros2_control_node[2026-06-02 20:23:20.819] [info] Received new action goal + 52.86sINFOros2_control_node[2026-06-02 20:23:20.819] [info] Accepted new action goal + 54.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780431802.20527744 seconds + 54.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780431802.81655288 seconds. + 54.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780431802.84668040 seconds + 55.55sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780431803.50663424 seconds. + 55.66sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×3 + 55.66sINFOobjective_server_nodePath shortcutter: [X_____________X] + 55.68sINFOros2_control_node[2026-06-02 20:23:23.641] [info] Received new action goal + 55.68sINFOros2_control_node[2026-06-02 20:23:23.641] [info] Accepted new action goal + 59.01sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 59.02sINFOros2_control_node[2026-06-02 20:23:26.981] [info] Received new action goal + 59.02sINFOros2_control_node[2026-06-02 20:23:26.981] [info] Accepted new action goal + 61.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 61.35sINFOros2_control_node[2026-06-02 20:23:29.308] [info] Received new action goal + 61.35sINFOros2_control_node[2026-06-02 20:23:29.308] [info] Accepted new action goal + 63.68sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). + 63.69sINFOros2_control_node[2026-06-02 20:23:31.648] [info] Received new action goal + 63.69sINFOros2_control_node[2026-06-02 20:23:31.648] [info] Accepted new action goal + 65.69sINFOros2_control_node[2026-06-02 20:23:33.646] [info] Got request to cancel active goal. + 65.69sINFOros2_control_node[2026-06-02 20:23:33.647] [info] Canceling active goal... + 65.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780431813.66356397 seconds + 66.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780431814.28743982 seconds. + 67.46sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×3 + 67.47sINFOros2_control_node[2026-06-02 20:23:35.432] [info] Received new action goal + 67.47sINFOros2_control_node[2026-06-02 20:23:35.432] [info] Accepted new action goal + 74.22sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.50% of iterations over budget over 1:10.002 of wall time (107/21556). Below 1% is expected on a non-realtime system.[0m + 76.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780431824.65783000 seconds + 77.26sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780431825.22443795 seconds. + 77.46sINFOros2_control_node[2026-06-02 20:23:45.419] [info] Received new action goal + 77.46sINFOros2_control_node[2026-06-02 20:23:45.419] [info] Accepted new action goal + 86.65sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 86.65sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 86.65sINFOobjective_server_nodeFound path in 0 iterations (1.7e-07 s). + 86.66sINFOobjective_server_nodePath shortcutter: [X________________X] ×3 + 86.70sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 86.73sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 86.79sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 86.80sINFOobjective_server_nodeFound path in 1 iterations (0.00312432 s). + 86.89sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 86.92sINFOobjective_server_nodeFound path in 1 iterations (0.00474775 s). + 86.99sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 87.02sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 87.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 87.13sINFOros2_control_node[2026-06-02 20:23:55.091] [info] Received new action goal + 87.13sINFOros2_control_node[2026-06-02 20:23:55.091] [info] Accepted new action goal + 87.70sINFOros2_control_node[2026-06-02 20:23:55.655] [info] Got request to cancel active goal. + 87.70sINFOros2_control_node[2026-06-02 20:23:55.655] [info] Canceling active goal... + 87.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780431835.67283416 seconds + 88.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780431836.27818727 seconds. + 88.49sINFOobjective_server_nodePath shortcutter: [X________X] ×3 + 88.50sINFOros2_control_node[2026-06-02 20:23:56.462] [info] Received new action goal + 88.50sINFOros2_control_node[2026-06-02 20:23:56.462] [info] Accepted new action goal + 90.96sINFOros2_control_node[2026-06-02 20:23:58.915] [info] Received new action goal + 90.96sINFOros2_control_node[2026-06-02 20:23:58.915] [info] Accepted new action goal + 99.52sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780431847.48104692 seconds +100.16sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780431848.12224245 seconds. +100.22sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 +100.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 +100.23sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780431848.19253850 seconds +100.79sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780431848.74644375 seconds. +100.90sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×5 +100.91sINFOros2_control_node[2026-06-02 20:24:08.871] [info] Received new action goal +100.91sINFOros2_control_node[2026-06-02 20:24:08.871] [info] Accepted new action goal +102.92sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780431850.87708163 seconds +103.48sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780431851.44209480 seconds. +103.59sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 +103.61sINFOros2_control_node[2026-06-02 20:24:11.567] [info] Received new action goal +103.61sINFOros2_control_node[2026-06-02 20:24:11.567] [info] Accepted new action goal +107.87sINFOobjective_server_node[0;93m2026-06-02 20:24:15.831188554 [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 +107.87sINFOobjective_server_node[0;93m2026-06-02 20:24:15.831222636 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +108.41sINFOobjective_server_node[0;93m2026-06-02 20:24:16.368009389 [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 +108.41sINFOobjective_server_node[0;93m2026-06-02 20:24:16.368050690 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +108.55sINFOobjective_server_node[0;93m2026-06-02 20:24:16.504955427 [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 +108.55sINFOobjective_server_node[0;93m2026-06-02 20:24:16.507314366 [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 +108.55sINFOobjective_server_node[0;93m2026-06-02 20:24:16.507338467 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +108.92sINFOobjective_server_node[0;93m2026-06-02 20:24:16.879111968 [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 +108.94sINFOobjective_server_node[0;93m2026-06-02 20:24:16.897411903 [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 +108.94sINFOobjective_server_node[0;93m2026-06-02 20:24:16.897456925 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +110.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780431858.25902963 seconds +110.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780431858.86464691 seconds. +111.47sINFOobjective_server_node[0;93m2026-06-02 20:24:19.431535143 [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 +111.47sINFOobjective_server_node[0;93m2026-06-02 20:24:19.431584305 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +111.98sINFOobjective_server_node[0;93m2026-06-02 20:24:19.937912594 [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 +111.98sINFOobjective_server_node[0;93m2026-06-02 20:24:19.937957246 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +112.11sINFOobjective_server_node[0;93m2026-06-02 20:24:20.071020981 [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 +112.11sINFOobjective_server_node[0;93m2026-06-02 20:24:20.074119501 [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 +112.11sINFOobjective_server_node[0;93m2026-06-02 20:24:20.074164863 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +112.47sINFOobjective_server_node[0;93m2026-06-02 20:24:20.431272290 [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 +112.49sINFOobjective_server_node[0;93m2026-06-02 20:24:20.453758281 [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 +112.49sINFOobjective_server_node[0;93m2026-06-02 20:24:20.453811693 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +113.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780431861.34790325 seconds +114.13sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780431862.08731103 seconds. +114.22sINFOobjective_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 +114.23sINFOobjective_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 +114.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 +114.54sINFOros2_control_node[2026-06-02 20:24:22.496] [info] Received new action goal +114.54sINFOros2_control_node[2026-06-02 20:24:22.496] [info] Accepted new action goal +117.39sINFOros2_control_node[2026-06-02 20:24:25.351] [info] Received new action goal +117.39sINFOros2_control_node[2026-06-02 20:24:25.351] [info] Accepted new action goal +120.57sINFOros2_control_node[2026-06-02 20:24:28.531] [info] Received new action goal +120.57sINFOros2_control_node[2026-06-02 20:24:28.531] [info] Accepted new action goal +123.58sINFOros2_control_node[2026-06-02 20:24:31.535] [info] Received new action goal +123.58sINFOros2_control_node[2026-06-02 20:24:31.535] [info] Accepted new action goal +126.54sINFOobjective_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 +133.29sINFOobjective_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 +134.23sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.53% of iterations over budget over 2:10.011 of wall time (213/39884). Below 1% is expected on a non-realtime system.[0m +134.27sINFOros2_control_node[2026-06-02 20:24:42.231] [info] Received new action goal +134.27sINFOros2_control_node[2026-06-02 20:24:42.231] [info] Accepted new action goal +135.45sINFOobjective_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 +135.46sINFOobjective_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 +135.79sINFOros2_control_node[2026-06-02 20:24:43.753] [info] Received new action goal +135.79sINFOros2_control_node[2026-06-02 20:24:43.753] [info] Accepted new action goal +137.94sINFOros2_control_node[2026-06-02 20:24:45.896] [info] Received new action goal +137.94sINFOros2_control_node[2026-06-02 20:24:45.896] [info] Accepted new action goal +141.03sINFOros2_control_node[2026-06-02 20:24:48.989] [info] Received new action goal +141.03sINFOros2_control_node[2026-06-02 20:24:48.989] [info] Accepted new action goal +143.48sINFOobjective_server_nodeFound path in 0 iterations (6.8e-07 s). +143.51sINFOros2_control_node[2026-06-02 20:24:51.474] [info] Received new action goal +143.52sINFOros2_control_node[2026-06-02 20:24:51.474] [info] Accepted new action goal +154.82sINFOros2_control_node[2026-06-02 20:25:02.778] [info] Received new action goal +154.82sINFOros2_control_node[2026-06-02 20:25:02.779] [info] Accepted new action goal +155.99sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780431903.94543171 seconds +156.74sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780431904.69964981 seconds. +158.01sINFOobjective_server_nodePath shortcutter: [X__________________________X] +158.03sINFOros2_control_node[2026-06-02 20:25:05.984] [info] Received new action goal +158.03sINFOros2_control_node[2026-06-02 20:25:05.984] [info] Accepted new action goal +162.48sINFOobjective_server_nodePath shortcutter: [X_______________________X] +162.49sINFOros2_control_node[2026-06-02 20:25:10.444] [info] Received new action goal +162.49sINFOros2_control_node[2026-06-02 20:25:10.444] [info] Accepted new action goal +166.20sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780431914.15977693 seconds +166.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780431914.73247099 seconds. +166.94sINFOobjective_server_nodePath shortcutter: [X___X] ×2 +166.95sINFOros2_control_node[2026-06-02 20:25:14.906] [info] Received new action goal +166.95sINFOros2_control_node[2026-06-02 20:25:14.906] [info] Accepted new action goal +168.22sINFOobjective_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 +168.23sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 +171.27sINFOros2_control_nodeReceived new action goal[0m ×3650 +171.27sINFOros2_control_nodeAccepted new action goal[0m ×3513 +175.28sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 +175.39sINFOros2_control_nodeGoal reached, success![0m ×624 +194.23sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.69% of iterations over budget over 3:10.012 of wall time (403/58113). Below 1% is expected on a non-realtime system.[0m +197.17sERRORobjective_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. +202.60sINFOros2_control_nodeWARNING: Nan, Inf or huge value in QACC at DOF 150. The simulation is unstable. Time = 32.9850. +202.60sINFOros2_control_node +204.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780431952.19666314 seconds +204.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780431952.86422992 seconds. +205.05sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: 'Found a self-collision involving the bodies 'base_link <-> forearm_link'. Colliding links define a padding value of 0.01 m.' +205.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` did not succeed at time: 1780431953.01441741 seconds +205.75sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780431953.71140647 seconds. +205.90sINFOros2_control_node[2026-06-02 20:25:53.855] [info] Received new action goal +205.90sINFOros2_control_node[2026-06-02 20:25:53.855] [info] Accepted new action goal +208.96sINFOros2_control_node[2026-06-02 20:25:56.923] [info] Received new action goal +208.96sINFOros2_control_node[2026-06-02 20:25:56.923] [info] Accepted new action goal +211.38sINFOros2_control_node[2026-06-02 20:25:59.338] [info] Received new action goal +211.38sINFOros2_control_node[2026-06-02 20:25:59.338] [info] Accepted new action goal +220.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431968.611753)[0m +220.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431968.901753)[0m +221.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431969.081753)[0m +221.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431969.241753)[0m +221.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431969.251753)[0m +221.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431969.271753)[0m ×2 +221.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431969.911753)[0m +221.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431969.931753)[0m +222.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431970.491753)[0m +222.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431970.511753)[0m +222.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431970.541753)[0m +222.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431970.711753)[0m ×2 +222.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431970.721753)[0m +222.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431970.911753)[0m +223.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431971.141753)[0m +223.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431971.381753)[0m ×2 +223.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431971.531753)[0m +224.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431971.961753)[0m +224.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431971.981753)[0m +224.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431971.991753)[0m +224.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431972.161753)[0m +224.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431972.181753)[0m +224.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431972.501753)[0m +224.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431972.581753)[0m +224.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431972.591753)[0m +224.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431972.631753)[0m +224.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431972.811753)[0m +224.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431972.831753)[0m +224.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431972.841753)[0m +224.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431972.931753)[0m +224.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431972.951753)[0m +225.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431972.981753)[0m +225.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431972.991753)[0m +225.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431973.361753)[0m +225.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431973.391753)[0m ×2 +225.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431973.421753)[0m +225.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431973.601753)[0m +225.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431973.611753)[0m ×2 +225.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431973.631753)[0m +225.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431973.931753)[0m +226.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431973.991753)[0m +226.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431974.121753)[0m +226.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431974.201753)[0m +226.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431974.231753)[0m +226.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431974.251753)[0m +226.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431974.351753)[0m +226.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431974.391753)[0m +226.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431974.721753)[0m +226.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431974.821753)[0m +226.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431974.831753)[0m +226.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431974.881753)[0m ×2 +227.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431975.031753)[0m +227.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431975.051753)[0m +227.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431975.061753)[0m +227.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431975.071753)[0m +227.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431975.391753)[0m +227.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431975.461753)[0m +227.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431975.581753)[0m +227.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431975.671753)[0m +227.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431975.691753)[0m +227.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431975.721753)[0m +227.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431975.731753)[0m +227.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431975.841753)[0m +227.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431975.871753)[0m +228.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431976.131753)[0m +228.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431976.171753)[0m +228.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431976.191753)[0m +228.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431976.331753)[0m +228.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431976.351753)[0m +228.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431976.361753)[0m +228.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431976.541753)[0m +228.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431976.551753)[0m +228.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431976.571753)[0m ×2 +228.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431976.781753)[0m +229.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431977.211753)[0m +229.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431977.311753)[0m ×2 +229.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431977.351753)[0m +229.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431977.821753)[0m +230.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431978.021753)[0m ×2 +230.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431978.051753)[0m +230.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431978.831753)[0m +230.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431978.851753)[0m +231.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431978.951753)[0m +231.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431978.991753)[0m +231.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431979.491753)[0m +231.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431979.511753)[0m ×2 +231.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431979.521753)[0m +231.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431979.531753)[0m +231.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431979.571753)[0m +232.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431980.161753)[0m +232.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431980.251753)[0m +232.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431980.291753)[0m +232.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431980.301753)[0m +232.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431980.361753)[0m +232.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431980.431753)[0m +233.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431980.961753)[0m +233.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431980.971753)[0m ×2 +233.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431980.981753)[0m +233.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431981.031753)[0m +233.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431981.651753)[0m ×2 +233.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431981.741753)[0m +233.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431981.751753)[0m +233.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431981.771753)[0m +233.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431981.791753)[0m +233.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431981.801753)[0m +233.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431981.891753)[0m +233.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431981.931753)[0m ×2 +234.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431982.441753)[0m ×2 +234.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431982.461753)[0m +234.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431982.471753)[0m +235.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431983.201753)[0m +235.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431983.221753)[0m +235.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431983.241753)[0m +235.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431983.251753)[0m +235.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431983.261753)[0m +235.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431983.891753)[0m +235.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431983.911753)[0m ×2 +235.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431983.921753)[0m +235.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431983.941753)[0m +236.55sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780431984.51410604 seconds +236.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431984.541753)[0m +236.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431984.561753)[0m +236.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780431967.281753) that ends in the past (1780431984.581753)[0m +237.20sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780431985.15751767 seconds. +238.37sINFOobjective_server_nodeFound path in 6 iterations (0.00676786 s). +238.43sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] +238.44sINFOros2_control_node[2026-06-02 20:26:26.403] [info] Received new action goal +238.44sINFOros2_control_node[2026-06-02 20:26:26.403] [info] Accepted new action goal +247.90sINFOobjective_server_node[0;m[0;93m2026-06-02 20:26:35.862630248 [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 +247.90sINFOobjective_server_node[0;93m2026-06-02 20:26:35.862669460 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +248.39sINFOobjective_server_node[0;93m2026-06-02 20:26:36.344894155 [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 +248.39sINFOobjective_server_node[0;93m2026-06-02 20:26:36.344933907 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +248.51sINFOobjective_server_node[0;93m2026-06-02 20:26:36.473476144 [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 +248.52sINFOobjective_server_node[0;93m2026-06-02 20:26:36.476089474 [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 +248.52sINFOobjective_server_node[0;93m2026-06-02 20:26:36.476127866 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +248.85sINFOobjective_server_node[0;93m2026-06-02 20:26:36.810606725 [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 +248.87sINFOobjective_server_node[0;93m2026-06-02 20:26:36.827584980 [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 +248.87sINFOobjective_server_node[0;93m2026-06-02 20:26:36.827631932 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +253.61sINFOobjective_server_nodeFound path in 4 iterations (0.00261038 s). +253.67sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] +253.70sINFOobjective_server_nodeFound path in 12 iterations (0.00432238 s). +253.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] +253.79sINFOobjective_server_nodeFound path in 1 iterations (0.00261709 s). +253.85sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] +253.87sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×3 +253.90sINFOobjective_server_nodePath shortcutter: [X____________________________________X] +253.91sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 +253.95sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] +253.97sINFOobjective_server_nodeFound path in 12 iterations (0.00650579 s). +254.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] +254.06sINFOobjective_server_nodeFound path in 1 iterations (0.00522317 s). +254.10sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] +254.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] +254.17sINFOobjective_server_nodeFound path in 4 iterations (0.00427589 s). +254.23sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.72% of iterations over budget over 4:10.012 of wall time (547/76409). Below 1% is expected on a non-realtime system.[0m +254.24sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] +254.27sINFOobjective_server_nodeFound path in 4 iterations (0.00298977 s). +254.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X______________________X] +254.38sINFOobjective_server_nodeFound path in 1 iterations (0.00472045 s). +254.43sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] +254.45sINFOobjective_server_nodeFound path in 1 iterations (0.00261328 s). +254.53sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] +254.55sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). +254.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] +254.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X] +254.90sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X] +254.94sINFOros2_control_node[2026-06-02 20:26:42.896] [info] Received new action goal +254.94sINFOros2_control_node[2026-06-02 20:26:42.896] [info] Accepted new action goal +259.95sINFOros2_control_node[2026-06-02 20:26:47.908] [info] Received new action goal +259.95sINFOros2_control_node[2026-06-02 20:26:47.908] [info] Accepted new action goal +261.59sINFOros2_control_node[2026-06-02 20:26:49.551] [info] Received new action goal +261.59sINFOros2_control_node[2026-06-02 20:26:49.551] [info] Accepted new action goal +262.80sINFOobjective_server_nodePlanning for 4 path waypoints. +262.86sINFOros2_control_node[2026-06-02 20:26:50.814] [info] Received new action goal +262.86sINFOros2_control_node[2026-06-02 20:26:50.814] [info] Accepted new action goal +268.07sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780432016.02773619 seconds +268.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780432016.73511744 seconds. +268.99sINFOros2_control_node[2026-06-02 20:26:56.949] [info] Received new action goal +268.99sINFOros2_control_node[2026-06-02 20:26:56.949] [info] Accepted new action goal +275.14sINFOobjective_server_nodeFound path in 1 iterations (0.00272239 s). +275.25sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +275.26sINFOros2_control_node[2026-06-02 20:27:03.221] [info] Received new action goal +275.26sINFOros2_control_node[2026-06-02 20:27:03.221] [info] Accepted new action goal +277.78sINFOros2_control_node[2026-06-02 20:27:05.743] [info] Received new action goal +277.78sINFOros2_control_node[2026-06-02 20:27:05.743] [info] Accepted new action goal +279.31sINFOros2_control_nodeGot request to cancel goal[0m +279.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m +279.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780432027.32180023 seconds +279.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780432027.94180989 seconds. +280.15sINFOros2_control_node[2026-06-02 20:27:08.106] [info] Received new action goal +280.15sINFOros2_control_node[2026-06-02 20:27:08.106] [info] Accepted new action goal +282.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +290.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780432038.26218748 seconds +290.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780432038.82251549 seconds. +291.11sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +291.13sINFOros2_control_node[2026-06-02 20:27:19.094] [info] Received new action goal +291.14sINFOros2_control_node[2026-06-02 20:27:19.094] [info] Accepted new action goal +295.15sINFOros2_control_node[2026-06-02 20:27:23.109] [info] Received new action goal +295.15sINFOros2_control_node[2026-06-02 20:27:23.109] [info] Accepted new action goal +300.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780432048.69437265 seconds +301.32sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780432049.27718925 seconds. +301.43sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). +301.44sINFOros2_control_node[2026-06-02 20:27:29.401] [info] Received new action goal +301.44sINFOros2_control_node[2026-06-02 20:27:29.401] [info] Accepted new action goal +311.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780432059.75737786 seconds +312.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780432060.39259362 seconds. +312.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780432060.48276877 seconds +313.08sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780432061.04115343 seconds. +313.10sINFOobjective_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 '' +313.10sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780432061.06305313 seconds +313.67sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780432061.62562633 seconds. +313.79sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). +313.81sINFOros2_control_node[2026-06-02 20:27:41.770] [info] Received new action goal +313.81sINFOros2_control_node[2026-06-02 20:27:41.770] [info] Accepted new action goal +314.23sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.67% of iterations over budget over 5:10.013 of wall time (637/94821). Below 1% is expected on a non-realtime system.[0m +317.11sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +317.11sINFOros2_control_node[2026-06-02 20:27:45.069] [info] Received new action goal +317.11sINFOros2_control_node[2026-06-02 20:27:45.069] [info] Accepted new action goal +317.11sINFOros2_control_node[2026-06-02 20:27:45.069] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +323.71sINFOros2_control_node[2026-06-02 20:27:51.666] [info] Got request to cancel active goal. +323.71sINFOros2_control_node[2026-06-02 20:27:51.666] [info] Canceling active goal... +323.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780432071.67287827 seconds +324.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780432072.30730319 seconds. +324.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780432072.73880529 seconds +325.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780432073.30267930 seconds. +325.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +325.34sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +325.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +325.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780432073.30448651 seconds +325.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780432073.86605930 seconds. +325.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780432073.86652327 seconds +326.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780432074.42344141 seconds. +327.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780432075.15359735 seconds +327.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +332.99sERRORweb_video_server-21process[web_video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +332.99sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +333.00sERRORrosbridge_websocket-19process[rosbridge_websocket-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +333.00sERRORrosapi_node-18process[rosapi_node-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +333.00sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +333.00sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +333.00sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +333.00sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +333.00sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +333.00sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +333.00sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +333.01sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +333.01sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +333.01sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +333.01sINFOweb_video_server-21sending signal 'SIGTERM' to process[web_video_server-21] +333.02sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] +333.02sINFOrosbridge_websocket-19sending signal 'SIGTERM' to process[rosbridge_websocket-19] +333.04sINFOrosapi_node-18sending signal 'SIGTERM' to process[rosapi_node-18] +333.04sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] +333.05sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] +333.06sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +333.08sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +333.09sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +333.10sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +333.11sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +333.12sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +333.12sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +333.13sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +333.14sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +333.14sINFOrosbridge_websocketExiting due to SIGINT +333.14sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +333.14sERRORrosapi_nodeTraceback (most recent call last): +333.14sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 560, in <module> +333.14sINFOrosapi_nodemain() +333.14sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 552, in main +333.14sINFOrosapi_noderclpy.spin(node) +333.14sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin +333.14sINFOrosapi_nodeexecutor.spin_once() +333.14sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once +333.14sINFOrosapi_nodeself._spin_once_impl(timeout_sec) +333.14sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl +333.14sINFOrosapi_nodehandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) +333.14sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks +333.14sINFOrosapi_nodereturn next(self._cb_iter) +333.14sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks +333.14sINFOrosapi_noderaise ExternalShutdownException() +333.14sINFOrosapi_noderclpy.executors.ExternalShutdownException +333.14sERRORui_teleop_bridgeTraceback (most recent call last): +333.14sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +333.14sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +333.14sINFOui_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 +333.14sINFOui_teleop_bridgerclpy.shutdown() +333.14sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown +333.14sINFOui_teleop_bridge_shutdown(context=context) +333.14sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown +333.14sINFOui_teleop_bridgereturn context.shutdown() +333.14sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown +333.14sINFOui_teleop_bridgeself.__context.shutdown() +333.14sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 +333.14sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +333.14sINFOros2_control_nodeShutdown request received....[0m +333.14sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +333.14sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +333.14sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +333.14sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +333.14sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +333.14sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +333.14sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +333.14sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +333.14sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +333.15sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +333.15sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +333.15sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +333.15sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +333.15sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +333.15sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +333.15sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +333.15sINFOros2_control_nodeShutting down the controller manager.[0m +333.18sINFOobjective_server_node[0;m[2026-06-02 20:28:01.144] [moveit_pro_license] [info] +333.18sINFOobjective_server_node* Application has successfully terminated +333.23sINFOweb_video_server-21process has finished cleanly [pid 9343] +333.24sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9341] +333.24sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system +333.24sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +333.28sERRORobjective_server_nodeStack trace (most recent call last): +333.30sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +333.30sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5582708604e4, in _start +333.30sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7106f2ae3f, in __libc_start_main +333.30sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7106f2ad96, in +333.30sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7106f4660f, in exit +333.30sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7106f46494, in +333.30sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f71073cf251, in spdlog::details::registry::~registry() +333.30sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f71073d9e66, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() +333.30sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558270865cba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +333.30sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558270862bf3, in spdlog_ros::RosSink::~RosSink() +333.30sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558270867e01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +333.30sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f71078b3b2e, in rclcpp::Node::~Node() +333.30sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f710788ed39, in +333.30sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f71078bd0b9, in +333.30sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f71078bd000, in rclcpp::node_interfaces::NodeBase::~NodeBase() +333.30sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f710788ed39, in +333.30sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f7107893b31, in rclcpp::CallbackGroup::~CallbackGroup() +333.30sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f70ca7e63f0]) +333.30sERRORui_teleop_bridge-17process has died [pid 9317, 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_8z5kkk0o']. +333.30sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9309] +333.31sINFOrosbridge_websocket-19process has finished cleanly [pid 9321] +333.31sINFOlaunchprocess[rosbridge_websocket-19] was required: shutting down launched system +333.32sINFOexecute_objective_bridge-16process has finished cleanly [pid 9315] +333.33sINFOcomponent_container_mt-15process has finished cleanly [pid 9313] +334.12sERRORobjective_server_node_main-14process has died [pid 9311, exit code -11, 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_agpcw5gd --params-file /tmp/launch_params_w0zgqbqf --params-file /tmp/launch_params_ic0_dgfq --params-file /tmp/launch_params_945a3t4r --params-file /tmp/launch_params_d5j8o3z3 --params-file /tmp/launch_params_x4f591iq']. +334.12sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +334.13sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9307] +334.17sINFOparameter_manager_node-10process has finished cleanly [pid 9266] +334.20sINFOwaypoint_manager_node-11process has finished cleanly [pid 9305] +334.20sERRORrosapi_node-18process has died [pid 9319, exit code 1, cmd '/opt/ros/humble/lib/rosapi/rosapi_node --ros-args -r __node:=rosapi --params-file /tmp/launch_params_1lji9abq']. +334.46sINFOmove_group-9process has finished cleanly [pid 9264] +335.51sINFOros2_control_node-1process has finished cleanly [pid 9244] +340.21sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-02-20-28-07-502376-d5771437cef5-10590 +341.79sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +341.91sINFOros2_control_node-1process started with pid [10620] +341.91sINFOmove_group-9process started with pid [10639] +341.91sINFOparameter_manager_node-10process started with pid [10642] +341.91sINFOwaypoint_manager_node-11process started with pid [10681] +341.91sINFOmove_joint_resampler_node-12process started with pid [10683] +341.91sINFOmove_end_effector_resampler_node-13process started with pid [10685] +341.91sINFOobjective_server_node_main-14process started with pid [10687] +341.91sINFOcomponent_container_mt-15process started with pid [10689] +341.91sINFOexecute_objective_bridge-16process started with pid [10691] +341.91sINFOui_teleop_bridge-17process started with pid [10693] +341.91sINFOrosapi_node-18process started with pid [10695] +341.91sINFOrosbridge_websocket-19process started with pid [10697] +341.91sINFOtf2_web_republisher_node-20process started with pid [10706] +341.91sINFOweb_video_server-21process started with pid [10718] +341.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10622] +341.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10624] +341.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10626] +341.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10628] +341.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10630] +341.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10633] +341.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10636] +341.99sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +342.19sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +342.22sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +342.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +342.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +342.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +342.23sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +342.23sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +342.23sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +342.23sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +342.88sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +342.93sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... +342.94sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +342.95sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +342.95sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +342.97sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +343.00sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... +343.02sWARNrosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds. +344.04sINFOobjective_server_node[2026-06-02 20:28:12.000] [moveit_pro_license] [info] +344.34sINFOcontroller_managerupdate rate is 600 Hz +344.34sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +344.34sWARNcontroller_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. +344.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +344.40sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +344.40sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' +344.41sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +344.44sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +344.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +344.45sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' +344.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +344.47sINFOcontroller_managerLoading controller 'velocity_force_controller' +344.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +344.59sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +344.59sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +344.62sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +344.62sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +344.62sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +344.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' +344.64sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +344.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10622] +344.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10624] +344.74sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +344.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +344.82sINFOcontroller_managerConfiguring controller 'velocity_force_controller' +344.82sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +344.91sINFOros2_control_node[2026-06-02 20:28:12.864] [info] Controller state will be published at 10 Hz. +344.91sINFOros2_control_node[2026-06-02 20:28:12.866] [info] VelocityForceController 'on_configure' succeeded. +344.91sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' +344.91sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +344.91sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +344.91sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. +344.91sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +344.92sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' +344.92sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +344.92sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +344.92sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +344.92sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. +344.92sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' +344.95sINFOros2_control_node[2026-06-02 20:28:12.912] [info] Controller state will be published at 20 Hz. +344.95sINFOros2_control_node[2026-06-02 20:28:12.913] [info] JointVelocityController 'on_configure' succeeded. +344.96sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' +344.96sINFOros2_control_node[2026-06-02 20:28:12.916] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +344.96sINFOros2_control_node[2026-06-02 20:28:12.916] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +344.99sINFOros2_control_node[2026-06-02 20:28:12.949] [info] First order lag filter time constant set to: 0.2 seconds +344.99sINFOros2_control_node[2026-06-02 20:28:12.949] [info] Controller state will be published at 50 Hz. +344.99sINFOros2_control_node[2026-06-02 20:28:12.954] [info] Registered `FollowJointTrajectory` action server. +345.00sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +345.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +345.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10633] +345.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10636] +345.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10630] +345.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10628] +345.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10626] +346.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780432094.45228553 seconds. ×2 +346.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780432094.46248436 seconds ×2 +347.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432095.01961398 seconds. ×2 +347.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +348.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432096.13977432 seconds ×2 +348.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 +349.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 +350.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 +350.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432096.13977432 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 4.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 4.16sINFOobjective_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 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.28sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 4.28sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 6.18sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.82sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.82sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.84sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.84sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 48 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432096.13977432 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 4.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 4.16sINFOobjective_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 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.28sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 4.28sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 6.18sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 warnings · 79 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/2026-06-02-20-28-07-502376-d5771437cef5-10590 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.58sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.70sINFOros2_control_node-1process started with pid [10620] + 1.70sINFOmove_group-9process started with pid [10639] + 1.70sINFOparameter_manager_node-10process started with pid [10642] + 1.70sINFOwaypoint_manager_node-11process started with pid [10681] + 1.70sINFOmove_joint_resampler_node-12process started with pid [10683] + 1.70sINFOmove_end_effector_resampler_node-13process started with pid [10685] + 1.71sINFOobjective_server_node_main-14process started with pid [10687] + 1.71sINFOcomponent_container_mt-15process started with pid [10689] + 1.71sINFOexecute_objective_bridge-16process started with pid [10691] + 1.71sINFOui_teleop_bridge-17process started with pid [10693] + 1.71sINFOrosapi_node-18process started with pid [10695] + 1.71sINFOrosbridge_websocket-19process started with pid [10697] + 1.71sINFOtf2_web_republisher_node-20process started with pid [10706] + 1.71sINFOweb_video_server-21process started with pid [10718] + 1.72sINFOparameter_manager_nodeStarted parameter manager node. + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10622] + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10624] + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10626] + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10628] + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10630] + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10633] + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10636] + 1.74sWARNros2_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 + 1.74sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.99sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.00sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.02sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 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[0m + 2.04sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 2.04sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 2.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 2.62sINFOrosbridge_websocketregistered capabilities (classes): + 2.62sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> + 2.62sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> + 2.62sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> + 2.62sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> + 2.62sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_action.UnadvertiseAction'> + 2.67sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 2.67sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.67sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.68sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.72sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.74sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.74sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.75sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.76sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.79sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.81sWARNrosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds. + 2.81sWARNrosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds.[0m | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 61 info |
+ 0.00sINFOmove_group ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m + 0.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780432094.45228553 seconds. ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780432094.46248436 seconds ×2 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432095.01961398 seconds. ×2 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432096.13977432 seconds ×2 + 3.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 4.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 6.82sINFOobjective_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 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 6.92sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.93sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 6.93sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal | ||||
| − skipped | — | createvector.xml | 0.0s | 61 info |
+ 0.00sINFOmove_group ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m + 0.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780432094.45228553 seconds. ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780432094.46248436 seconds ×2 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432095.01961398 seconds. ×2 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432096.13977432 seconds ×2 + 3.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 4.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 6.82sINFOobjective_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 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 6.92sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.93sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 6.93sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 61 info |
+ 0.00sINFOmove_group ×2 + 0.00sINFOmove_group[92mYou can start planning now![0m + 0.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780432094.45228553 seconds. ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780432094.46248436 seconds ×2 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780432095.01961398 seconds. ×2 + 1.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432096.13977432 seconds ×2 + 3.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 4.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 6.82sINFOobjective_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 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 6.92sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.93sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 6.93sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 45 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432096.13977432 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 4.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 4.16sINFOobjective_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 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.28sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 4.28sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal | ||||
| − skipped | — | teleoperate.xml | 0.0s | 48 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780432096.13977432 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 3.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 4.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 4.16sINFOobjective_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 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 4.26sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.28sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 4.28sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 6.18sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). 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: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [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: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [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: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [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: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [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: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780432096.70645642 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780432097.71669722 seconds ×2 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780432098.31327677 seconds. ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780432098.33342147 seconds ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780432098.89149094 seconds. ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780432099.04209256 seconds ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780432099.66146016 seconds. ×2 + 2.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780432099.71160460 seconds ×2 + 3.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780432100.28972936 seconds. ×2 + 3.60sINFOobjective_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 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). + 3.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Received new action goal + 3.71sINFOros2_control_node[2026-06-02 20:28:20.416] [info] Accepted new action goal + 5.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.51% of iterations over budget over 0:10.002 of wall time (16/3113). Below 1% is expected on a non-realtime system.[0m + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Received new action goal + 6.27sINFOros2_control_node[2026-06-02 20:28:22.974] [info] Accepted new action goal | ||||